Experimental results on output-feedback control of a nonsmooth rotor dynamic system

J.C.A. Bruin, de, A. Doris, N. Wouw, van de, H. Nijmeijer

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review


An experimental implementation of an output-feedback controller on a rotor dynamic system with set-valued friction is presented. The system exhibits coexisting stable/unstable equilibria and undesired friction-induced limit cycles. In the system, the friction and actuation are non-collocated, which prevents the application of standard friction compensation techniques. Therefore, an output feedback control strategy is proposed that eliminates the friction-induced limit cycling, stabilizes the desired equilibrium and is robust for uncertainties in the friction model. The effectiveness of the proposed control strategy is shown both in simulations and experiments.
Original languageEnglish
Title of host publicationProceedings of the 3rd IFAC Workshop (PSYCO'07), 29-31 August 2007, Saint Petersburg, Russia
Place of PublicationRussian Federation, St Petersburg
Publication statusPublished - 2007


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