Position control of an inertia-spring DC-motor system without mechanical sensors: experimental results

In this article, two Generalized Proportional-Integral (GPI) feedback control schemes are proposed for the stabilization of the angular position of a DC-motor-actuated rotation inertia load, fixed to a wall by means of a rotation spring. The feedback schemes, which are not based on asymptotic observers nor calculations based on samplings, use only electrical variables measurements.