Robust Speed Control of Uncertain Two-Mass System
Karol Wróbel, Kacper Śleszycki, Amanuel Haftu Kahsay, Krzysztof Szabat, Seiichiro Katsura- Energy (miscellaneous)
- Energy Engineering and Power Technology
- Renewable Energy, Sustainability and the Environment
- Electrical and Electronic Engineering
- Control and Optimization
- Engineering (miscellaneous)
- Building and Construction
The main purpose of this work is to present a robust speed control structure for a two-mass system. The tested system consists of a PI controller with two additional feedback. The coefficients of the control system are selected using a pattern-search optimization method in order to obtain robustness to changes in the system parameters. The control system requires information about non-measurable state variables. For this purpose, it is proposed to use a multilayer observer. In order to show the advantages of the MLO system, this article also presents comparative studies with a classical observer. A number of simulation and experimental tests are carried out. The obtained results confirmed a much higher quality of control in the system cooperating with a multilayer observer compared to the system with a classical observer.