Experimental results on output-feedback control of a nonsmooth rotor dynamic system
Periodic Control Systems, Volume # 3 | Part# 1
J. C. A. de Bruin; A. Doris; N. van de Wouw; H. Nijmeijer
Digital Object Identifier (DOI)
setpoint control,discontinuous systems,set-valued friction,limit cycles
An experimental implementation of an output-feedback controller on a rotor dynamic system with set-valued friction is presented. The system exhibits coexisting stable/unstable equilibria and undesired friction-induced limit cycles. In the system, the friction and actuation are non-collocated, which prevents the application of standard friction compensation techniques. Therefore, an output-feedback control strategy is proposed that eliminates the friction-induced limit cycling, stabilizes the desired equilibrium and is robust for uncertainties in the friction model. The effectiveness of the proposed control strategy is shown both in simulations and experiments.
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