“…However, the two-mass system is a nonlinear drive system, so this PID controller for high efficiency when is not affected by noise. In the other study [4], the m-IPD speed controller gains for TMS with Kp, Ki, KD, and TD coefficients are determined by calculating and choosing the appropriate coefficients for m-IPD speed controller, thus, the drive system responds to the desired load speed. This controller for positive results gives better than PID controller, however unresolved problem resonance oscillation at coupling axis.…”