ADRC Load Position Controller for Two Mass System with Elastic Joint and Backlash

Abstract

The article presents simulation research over the position control of two-mass system with backlash. Author implemented Active Disturbance Rejection Control method for this type of object. The simulation research are preliminary tests before implementation the algorithm on laboratory bench. Detailed description of each block of the control system is presented, then simulation research are conducted, next - proposed performance indexes are calculated, finally conclusions and future works are discussed.