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Hwcontrol theory was applied to motor speed control system to get controller which acts effectively with control object including uncertainties. A mixed sensitivity Hw control problem was composed and solved. After that, numerical simulation were executed to confirm ability of the controller.Here. the part Khich consists of T L . BL and Tc in Fig. 1

On a variable speed control of motors used in industrial plants and industrial robots, a shaft torsional oscillation is often generated when a motor and a load are elastically coupled with a shaft. Such an oscillation may result in damage to the machine. This paper is intended to theoretically explain the fact that a shaft torsional oscillation can be suppressed by using the digital observer regardless of the presense of the gear.In this paper, we conducted tests on two shafts with resonant frequencies at 10.5 Hz and 16 Hz using a full-digital control equipment for controlling DC motors with the digital observer in order to confirm the oscillation control effects. 410T. IEE Japan, No. 4.'90

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This paper treats the vibration control of a motor system which has a motor and a load connected with a flexible shaft. This system often generates a shaft torsional vibration. Traditional methods for this motor system are specifically to use notch filter to suppress the resonance of the system, or to adjust PID controller so that the closed loop frequency response is slower than that of the vibration mode. On the other hand, we have already proposed one method by disdurbance obserber to suppress the vibration.In this paper, we propose a new approach based on H control theory.For comparison, we also construct a PI control system based on Classical control theory.The results of several experiments show us that the H control system is effective in suppressing the vibration as compared with the PI control system. Further, this study shows that the Hcontroller obtained consists of a PI controller and a series compensator that functions as an active vibration controller.