Notch Filter Design with Stability Guarantees for Mechanical Resonance Suppression in SISO LTI Two-Mass Drive Systems

Although the suppression of mechanical resonances for drive and positioning systems is a well-understood problem in the literature, its importance is still actual as technological developments push towards an increase in performance requirements. In this paper, the design of a notch filter is investigated with the aim of suppressing a single resonant frequency in SISO LTI two-mass drive systems. In the cases where the notch filter is located inside an existing control loop, as assumed in this work, it must not compromise the closed-loop stability of the system, while assuring desired control bandwidth and stability margins. Given a fixed known resonant frequency to suppress, an automatic algorithm is proposed to tune the notch filter parameters to guarantee specified control requirements and stability of the closed-loop system, so as to avoid, whenever possible, the reconfiguration of a preexisting controller.