As speed control method of Two-Inertia system, conventional PID control is used well. However, when a gear or a coupling backlash exists in the 2-I system, the conventional PID control may not be able to suppress vibration caused by the backlash. To solve above problem, this paper deduces a sufficient condition of Multi-inertia system stability with PID control. Therefore, if the parameters of the PID controller are designed to meet the sufficient condition of control system stability, stable speed control without backlash vibration can be produced without relation to the presence of the backlash. The parameters of the PID controller can be designed by Coefficient Diagram Method (CDM). The effectiveness of the proposed speed control method will be shown by both simulations and experiments.
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