Robust Torsion Torque Control using Single Inertialization Compensator for Two-inertia System with Environmental Stiffness

This paper proposes torsion torque control (TTC) for a two-inertia system with environmental stiffness. The pro-posed TTC is robust to environmental stiffness as it compensates the measured load-side torque with the current ref-erence through a single inertialization compensator (SIC). The SIC is independent of the TTC design, and a simple load-side plant model is constructed using the TTC and SIC. A load-side torque control based on a model error com-pensator (MEC) is adopted for one of the applications of the proposed TTC. In addition, plant nominal models are simplified using the proposed TTC. The proposed TTC system is effective even in the presence of environmental stiffness in simulations and experiments with geared motors for torsion torque and acceleration sensors.