Decentralized Control of the COFS-I Mast using Linear DC Motors

In this paper we consider a decentralized control design for vibration suppression in the COFS-I Mast using linear DC motors for actuators. The decentralized control design is based on not well known results from power systems using root locus techniques. This approach is effective because the loop gain is low due to low actuator authority. The frequency dependent nonlinearities of the actuator are taken into account. Because of the tendency of the transients to saturate the actuator, its effectiveness is reduced.