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

Henk NIJMEIJER, Nathan van de Wouw, Apostolos Doris, Jan-Kees de Bruin
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, we propose a output-feedback control strategy 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.
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