Abstract
This contribution deals with design and application of parallel feedforward compensator (PFC) for an electromechanical system with friction load. For a prototypic electromechanical system with a nonlinear friction curve and a classical cascade drive control it is shown that self-excited vibrations may occur in closed-loop operations. This phenomenon is connected with the unstable zero dynamics. In order to solve this problem the application of parallel compensation as an extension for conventional control scheme is proposed.
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