High performance speed control for torsional system based on H∞ control theory

This paper presents a speed control strategy for the torsional vibration systems such as industrial plants and industrial robots. The H ^∞ control theory is applied to design the speed controller for the two-mass resonant system. This controller determines the closed-loop characteristics such as the suppression of torsional vibration and the rejection of torque disturbance. Moreover, the two-degrees-of-freedom controller based on the H^∞ controller is designed to improve the tracking characteristics for the commanded speed. The high-order H^∞ controller is suitably reduced to make it easy to apply the practical system. The experiments show the excellent performance of the proposed control strategy compared with the conventional PI control