Active vibration control of two-mass flexible system using parametric Jordan form assignment

This paper deals with stage motion control system for scene manipulation during theater performance. Particular task of rope drum control is presented and solved. The system exhibits an oscillatory dynamics due to the elasticity of the rope with a hanging load. The goal was to find a simple control strategy based on a common cascade PID structure which is available in most of the industrial AC drives. Formerly developed method of parametric Jordan form assignment was used to solve the problem and obtain simple tuning rules.