Control and experiment study of elastic drive system by immersion and invariance

Based on the immersion and invariance, a novel feedback controller is designed to solve the problem of tracking and vibration suppression for a elastic drive system. An adaptive controller is designed with regard to the uncertainty of object parameters, and the closed-loop stability is analyzed via Lyapunov technique. Experiments are carried out with the Rotary-Torsion platform, and the experimental results verify the effectiveness of the proposed control method.

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