Stabilization of a uniform rotating disk-beam-mass system with boundary input disturbance

In this paper, we study the stabilization problem of a disk beam structure with disturbance. Specifically, the structure consists of a beam clamped at one end to the center of a rotating rigid disk, while the other end is attached to a tip mass subject to a non-uniform bounded disturbance. We start the investigation by designing the controller via the Active disturbance rejection control (ADRC) approach. The high gain extended state observer (ESO) is first designed to estimate the disturbance, then the feedback observer-based controller is designed to employ the estimation to cancel the disturbance effect. Furthermore, the well-posedeness of the controlled system is proved using the semigroup theory. Using the Lyapunov method, the exponential stability is proved. Finally, the performance of the control method is illustrated by simulation results.