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Abslract -The paper presents an observer based approach B o improve the dynamics of position drive with elastic joint. Computer simulations show good dynamic properEies of the proposed control structure, i.e. strong oscillations damping, eliminaling of overshoots and static control error of position angle, nearly time-optimal response at given limits of speed and current of the motor. Only measurements of motor current and rotor posilion are required. The disadvantage of the control is that accuraie identification of 2-mass system parameters is necessary. MODEL OF D W E WITH ELASTIC JOINTA typical drive with elastic joint can be represented as a system consisting of three elements : motor mass of inertia, elastic shaft and load mass of inertia. The model is shown in Fig. B I 8

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