Abstract
This paper proposes a controller design method of 2-degree-of-freedom system by Model Bridge Control. Model bridge control is the Multi-Freedom control theory and can compensate for each control problem, e.g. robust stability, reference input and disturbance responses. In this paper, we applied a robust controller design method using Model Bridge Control to resolve a spillover problem. It is important to resolve the spillover problem which an ignored elastic mode becomes unstable in. By Model Bridge control, an un-modeled dynamics is treated as a model error and is compensated by an error compensator which is designed based on gain and phase of the model error. We verified from simulations that Model Bridge Controller with the error compensator has a high robust stability. On the other hand, a control system without the error compensator became unstable owing to the spillover effect under the same condition. Therefore, the effectiveness of the proposed method is clarified.
