Design and implementation of a robust control strategy for mechanical systems

The paper illustrates a methodology to design a robust control strategy for mechanical systems in which stiction, friction, parameter variations and external disturbances have relevant effects. A methodology for the rapid prototyping of a robust control strategy is presented. The effects of external disturbances, stiction, and friction phenomena are compensated by implementing a disturbance observer and an inverse friction model. The robust control strategy is designed by applying a dedicated software. The experimental results related to a complex laboratory mechanical system are presented.