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Comparison of Robustness of Selected Speed Control Systems Applied for Two Mass System with Backlash


[ 1 ] Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics and electrical engineering

Year of publication


Chapter type

chapter in monograph / paper

Publication language


  • two-mass system
  • backlash
  • ADRC
  • 2DOF-PID
  • torsional vibration
  • damping
  • ISE
  • FFT
  • spectrum

EN The article compares robustness of five selected speed control systems to the changes in the controlled plant, which is a two mass system with backlash introduced between the motor and the linking shaft. Authors propose a test procedure which will take into account typical dynamical and steady states occurring in electrical drives. Moreover, modified quality indicators also are proposed in order to measure the influence of varying object parameter to the control process. During the research, authors changed the moment of inertia of the motor and the load as well as the backlash width. The results are summarized in tables in order to enable clear comparison between investigated methods.

Pages (from - to)

1371 - 1382





Advanced, Contemporary Control : Proceedings of KKA 2020 - The 20th Polish Control Conference, Łódź, Poland, 2020

Presented on

20th Polish Control Conference (KKA 2020), 14-29.10.2020, Łódź, Polska

Ministry points / chapter


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