Experimental results on output-feedback control of a nonsmooth rotor dynamic system

An experimental implementation of an output-feedback controller on a rotor dynamic system with set-valued friction is presented. The system exhibits coexisting stable/unstable equilibria and undesired friction-induced limit cycles. In the system, the friction and actuation are non-collocated, which prevents the application of standard friction compensation techniques. Therefore, an output-feedback control strategy is proposed that eliminates the friction-induced limit cycling, stabilizes the desired equilibrium and is robust for uncertainties in the friction model. The effectiveness of the proposed control strategy is shown both in simulations and experiments. Copyright ©2007 IFAC