Nonlinear Dynamics

, Volume 38, Issue 1–4, pp 383–400 | Cite as

Robust Speed Control of a Low Damped Electromechanical System Based on CRONE Control: Application to a Four Mass Experimental Test Bench

  • Jocelyn Sabatier
  • Serge Poullain
  • Patrick Latteux
  • Jean Luc Thomas
  • Alain Oustaloup


Robust speed control of a low damped electromechanical system with backlash is studied, controlled load angular speed being not measured. The proposed control strategy combines a Luenberger observer (load angular speed and load torque disturbance estimations) and a robust CRONE controller. The observer provides estimation of the load angular speed and of the disturbance torque applied on the load. Through the computation of only three independent parameters (as many as a PID controller), the CRONE controller permits to ensure the robust speed control of the load in spite of plant parametric variations and speed observation errors. The proposed control strategy is applied to a four mass experimental test bench.

Key words:

adjustable speed drives backlash CRONE control four masses low damped system fractional differentiation Luenberger observer machine tool drives modeling robust speed control 


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Copyright information

© Kluwer Academic Publishers 2004

Authors and Affiliations

  • Jocelyn Sabatier
    • 1
  • Serge Poullain
    • 2
  • Patrick Latteux
    • 2
  • Jean Luc Thomas
    • 2
  • Alain Oustaloup
    • 1
  1. 1.LAP-ENSEIRBUniversité Bordeaux 1Cours de la LibérationFrance
  2. 2.AREVA T&DPower Electronics Activities 9MassyFrance

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