Robust Nonlinear Controls for Two Problems of Rejecting Disturbances
نویسندگان
چکیده
In this paper we present the design of tow robust nonlinear controllers for two mechanical problems of rejecting disturbances such as eccentricity and friction compensation. In the eccentricity compensation problem, the considered disturbances are here assumed to be produced by eccentricity in mechanical systems and drives, the frequency and amplitude of this disturbance is unknown. The objective of this paper is the rejecting disturbances, this disturbances are bounded but the bound are unknown. These methods ensure asymptotic tracking of eccentricity and friction compensation which are problems of rejecting disturbances in both cases and the global asymptotic tracking is ensured. Keyword : Eccentricity compensation, friction compensation, sliding mode control, Nonlinear PI control.
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