Autobalancing DCAL controller for a rotating unbalanced disk

We design a control strategy for a rotating unbalanced disk. The control strategy is composed of a control torque and two control forces. The control strategy regulates disk displacement while ensuring that the unbalanced disk tracks a desired angular velocity trajectory. Specifically the control uses a desired compensation adaptation law (DCAL) and a gain adjusted forgetting factor to achieve exponential stability despite the lack of knowledge of the imbalance-related parameters provided a mild persistency of excitation condition is satisfied