Periodic disturbance compensation of an angular velocity drive-load servo control system with self-excited oscillations

The algorithm of modeling, identification and control of periodic disturbances [23] is applied as an add-on (adaptive) feed-forward controller to compensate the self-excited oscillations generated in an angular velocity drive-load servo control system. These oscillations take place mainly because the load machine has a crankshaft mechanism that induces these angle dependent periodic disturbances.