Abstract
In this paper the authors present an active control algorithm for position control of stepping servo motors with flexible transmission shaft. A non-linear mathematical model is derived to describe the dynamic behaviour of the system. To implement the full state variables active control technique, the non-linear model is first linearised. It is shown that the full state variables could be used in a closed loop controller to introduce damping in all eigenvalues of the system. Furthermore the effectiveness of linear control algorithm on the non-linear system is studied.
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