PI-Funnel Control for Two Mass Systems

We control a two mass system with uncertain parameter values, encompassing friction and hysteretic effects, modelled as a functional differential equation. As opposed to control strategies invoking identification mechanisms or neural networks, we propose controllers relying on structural system properties only. Output behaviour with pre-specified accuracy is guaranteed by the funnel controller, active damping of the shaft oscillation by the high-pass filter, zero tracking output error in the steady state by the PI-controller and bounded input disturbances are rejected. Finally, the controllers are implemented on a real plant, an electrical drive.