A Cooperative Integral Resonant Control and Integral Control for Two-inertia Systems

A. Jaiyonga and T. Benjanarasuthb

Faculty of Engineering, King Mongkut’s Institute of Technology Ladkrabang, Bangkok 10520, Thailand.


In this paper, a cooperative control scheme of integral resonant control (IRC) and integral control has been employed for two-inertia systems. IRC has a simple structure and is capable of achieving significant damping, while guaranteeing close-loop stability of the system in the presence of unmodeled out-of-bandwidth dynamics. In this paper, IRC is employed as an inner loop control to dampen the resonance of two-inertia systems. In order to achieve a good tracking performance, the integral control is utilized as an outer loop control. The parameters of both controllers can be easily designed by root locus technique. The effectiveness of the proposed control scheme is verified by both computer simulations and experiments.

Keywords: Integral resonant control, Integral control, Two-inertia, Root locus, Torsional resonance.

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