Hybrid Velocity/Force Filtered Integral-Proportional Control for Damping of Torsional Vibration

This study introduces a methodology for vibration damping based on hybrid control of velocity (or angular velocity) and force (or torque). The hybrid velocity/force integral-proportional controller is developed using the wave model, which accounts for interferences between traveling and reflected waves that induce vibration. Central to the proposed approach is treating the traveling wave as a state variable and the reflected waves as disturbances, thereby enabling velocity control of the load in a backstepping manner. Furthermore, this study addresses the issue of steady-state deviation under load disturbances by incorporating a high-pass filter into the force integral feedback. Experimental results validate the effectiveness of the proposed controller and filter.