Torque based control of whirling motion under mechanical resonance

The major objectives of the paper are to propose a torque based control method of the whirling motion under mechanical resonance and to confirm the effectiveness of our method experimentally. The torque is controlled to suppress the whirling motion instead of using the electromagnets that are required in some conventional control methods. The control input is determined based on a sufficient condition for stability in a system represented by a second-order vector differential equation whose coefficients are continuous, bounded, and time-varying matrices. The effectiveness of our control method is discussed by both a simulation and an experiment.