Robust vibration suppression of resonant modes by feedback compensation realized using allpass filters

Abstract

In this paper, we present a novel type of feedback compensation for achieving robust vibration suppression of resonant modes in mechatronic systems by the use of allpass filters. In most mechactronic systems, residual vibration must be sufficiently suppressed during precise positioning. In order to achieve the required vibration suppression, the proposed feedback compensation realized using allpass filters is adopted to stabilize the resonant modes without attenuating the gain and to improve the sensitivity characteristics around the resonant modes even when the plant system has high-order vibration modes and time-delay characteristics. The effectiveness of the proposed approach has been verified by carrying out numerical simulations and performing experiments using a prototype. © 2009 The Institute of Electrical Engineers of Japan.