A solution to benchmark problems of a couple of 3-inertia system

We present a solution to the benchmark problem of position control for a coupled three-inertia system. We adopt two-degree of freedom control structure that provides the feedforward controller based on the idea of filtered inverse system. The feedback controller is given by the robust control design method using the phase information proposed by Yamada (1982). We cannot satisfy all of the specifications, but the obtained characteristics are near the specification.