Robust Speed Control of a Low Damped Four Mass System Based on CRONE Control

In this paper, a robust speed control strategy is proposed for a low damped four mass system with backlash, in which the angular speed of the load to control cannot be measured by a sensor. This control strategy combines a Luenberger observer and a CRONE controller. The observer provides estimation of the load angular speed and of the disturbance torque applied on the load. Through the computation of only three independent parameters (as many as a PID controller), the CRONE controller permits to ensure the robust speed control of the load in spite of plant parametric variations and speed observation errors. The proposed control strategy is applied to a four mass experimental test bench.Copyright © 2003 by ASME