Selection of optimization criterion for speed controlled resonant elastic systems

In this paper classical minimization criteria are compared with respect to load disturbance rejection of speed controlled resonant elastic systems. The purpose of the comparison is to investigate what a "good control" of these systems is, as opposed to finding the minimum of an arbitrarily selected optimization criterion. The studied criteria include integrated error, integrated squared error and integrated absolute error, applied to three different two-mass systems. It is found that integrated absolute error, applied to the load speed is the "best" general criterion. However additional robustness constraints are sometimes needed.