Discrete-time adaptive pole placement control of a multi-inertia system with high-frequency resonance and time-delay

This paper presents a design method of a discrete-time adaptive control system for a multi-inertia system with highfrequency resonance and time-delay, which combines an internal loop of torque feedback by pole placement and PI control of angular velocity feedback. By appropriately placing poles of the control system, an output feedback control system that converges rapidly to a reference value can be designed. Furthermore, by extending the control system to adaptive control, the system can be operated under plant fluctuations. The effectiveness of the proposed system was confirmed by simulation.