Page 61 - Adaptive Identification and Control of Uncertain Systems with Nonsmooth Dynamics
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52   Adaptive Identification and Control of Uncertain Systems with Non-smooth Dynamics

































                        Figure 3.6 Profiles of Luenberger state observer: (A) motor speed, (B) load speed, and
                        (C) torsional torques.

















                        Figure 3.7 Configuration of the laboratory test-rig.



                        time as 0.1 ms. Nominal parameters of the driving system are presented in
                        Table 3.1. The motor speed is measured by a configured encoder. How-
                        ever, some state variables such as torsional torque and load speed can not
                        be measured directly, and thus the above presented Luenberger observer is
                        employed.
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