Abstract
This paper presents a decentralised web tension and speed control system using two active disturbance rejection controller and two extended state observers designed independently for estimating the effects of decoupled dynamics and unknown internal disturbances on the dynamics of the master speed roller and the rewinding roller. The main results show that the proposed controllers are capable of achieving any given arbitrary tracking error when the initial conditions stay within a given compact set. The theoretical findings are supported by simulation results.
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