Abstract
Controlling a two-mass system is a common problem in industrial automation. The control difficulty caused by the compliant coupling is often increased by nonlinear friction. High static friction in combination with elastic coupling often leads to limited cycles and stick-slip effects. This work presents a design of a H/sub /spl infin// position control combined with a nonlinear friction compensation. The proposed control is robust against changes in the load momentum of inertia and robust against changes in the static friction. Measurements will complete the paper.
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