Absolute stabilization of multimass resonant system by phase-lead compensator based on disturbance observer

Vibration suppression and attainment of robustness in motion control systems is a big problem in industry applications. To address this issue, several control methods to suppress the vibration have been developed. However, in the conventional vibration control systems, much of the research has not considered the higher order of resonant frequencies. This paper proposes a novel vibration control of a multimass resonant system based on the phase-lead compensator. It also clarifies the influence of the parameter variation of a disturbance observer on acceleration control system. The effect of phase-lead compensation on the acceleration reference is attained by setting a higher nominal inertia value than the actual one. The phase-lead compensator can stabilize all resonant poles of the multimass resonant system. Since the proposed phase-lead compensation system is based on the disturbance observer technique, it can realize suppression of vibration and robustness in motion systems. The experimental results show viability of the proposed method.