Abstract
This paper presents an application of the d-decomposition technique to the design of the control structure for a two-mass drive system. In the paper the main control approaches for the drive system with an elastic joint are briefly introduced. Then the investigated control structure for a two-mass system is presented. The limitations of the classical control tuning technique are demonstrated. Next the d-decomposition technique is described. The tuning methodology of the digital controller structure is presented. The connection between the classical poles placement methodology and d-decomposition method is proposed in the paper. The theoretical considerations are supported with experimental tests.
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