Analysis and compensation of speed drive systems with torsional loads

This paper proposes a fast and robust speed controller for motor drive systems having torsional loads and containing a gear backlash. The controller is designed using the state feedback technique combined with state variable observers and is implemented on a digital signal processor. Analysis, simulation and experimental results of a prototype speed drive system are presented and discussed. It is shown that the proposed speed controller yields a robust system with respect to system uncertainties and modeling errors and is very effective for the suppression of mechanical vibrations.>