Flex mechanics digital control design

The work is intended to explain basic ideas related to the problem of design of control system for precise motion flex electromechanical system. The higher complexity of the system owing from nonlinearly (dry friction, backlash) and variable limitations defines using of a number of the simplifying assumptions. The control system design is made in the time domain and based on modal discrete-time control. Computer simulation is important by check of controlled system works in various modes. Three-mass two drive flex mechanics system has been developed and tested.