In this paper, the synchronous control method for multi-motor coupled with pendulum in a vibration system is introduced. The dynamic model of three eccentric rotors (ERs) driven by three motors rotating in the same direction in the system is firstly established. However, to obtain elliptical trajectory, the ideal synchronization motion (zero-phase difference) of the three ERs should be satisfied. Therefore, the synchronous control strategy for the proposed system is described. Then, the exponential reaching law sliding mode control (ERL-SMC) with adjacent cross-coupling control structure is applied to design the controllers of rotational velocity error and synchronization error. Meanwhile, the stability performance of the controllers is demonstrated by Lyapunov theory and Hurwitz condition. Furthermore, the adaptive method is applied to the ERL-SMC to improve the control accuracy of the system. Finally, computer simulation based on Matlab/Simulink is implemented to validate the effectiveness of the control system; besides, the impact of parameter perturbations in the control system are considered to verification the robustness of controllers related to the velocity and synchronization. INDEX TERMS Synchronous control, vibration system, exponential reaching law, sliding mode control adjacent cross-coupling control.

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The problem of observer-based passive control for uncertain nonlinear sampled-data systems with time delay is investigated by using non-fragile passive control. Attention is focused on the design of a non-fragile passive observer and a controller which guarantees the passivity of the closed-loop system for all admissible uncertainties. A sufficient condition for passivity and asymptotic stability of the combined system is derived via linear matrix inequality (LMI). Finally, a simulation example is presented to show the validity and advantages of the proposed method.

A novel integrated angle measurement system is proposed, which is based on CAN bus and can solve the problem that the traditional shaft angle measurement device is sensitive to disturbances and lack of network interface. The hardware circuits are designed based on the digital signal processor (DSP) TMS320F2812 and the resolver-to-digital converter (RDC) AD2S83. In addition, an adjustable frequency circuit based on Direct Digital Synthesizer (DDS) is designed to provide a precise reference signal. The software design is also introduced. The experimental results show that the angle measurement system is reliable, high accuracy, compact and convenient to be used.

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