Modeling and control of a flexible mechanical transmission: (Comparison of performance controllers for an educational prototype of a flexible mechanical transmission)

This paper presents the study about the performance of basic and advanced controllers applied to an educational prototype of a flexible mechanical transmission system. Among the most important results of this work are the theoretical modeling, parameter estimation by using a minimum square algorithm, and design and analysis of four control strategies. The strategies implemented are PID, state space, algebraic and adaptive control. The results recorded herein correspond to tests carried out in the actual prototype.