1. Introduction: Eccentricity and Cogging

2. Motor Model

3. Step response of non-reduced model of permanent magnet DC-Motor

4. Order Reduction For many DC motors, the time constant of the armature, is negligible. This produces a reduced transfer function :

5. Control Requirements Notatio n NameValue Bandwidth Resonant Peak Steady State Error :

6. Bode diagram of system with desired PI controller

7. Bode diagram of disturbance-output transfer function

8. Step response for a constant angular velocity input command

9. Sinusoidal angular velocity input command near =100Hz frequency

10. Sinusoidal angular velocity input command near 10Hz frequency

11. Reaction to a constant torque disturbance

12. Reaction to a sinusoidal torque disturbance

13. Tracking error for sinusoidal input command and sinusoidal disturbance

14. Tracking error for position dependent disturbance and sinusoidal 100[rad/sec] input command

15. Tracking error results for different phase position dependent torque disturbance and fixed parameter disturbance compensation

16. Tracking error results for different amplitude position dependent torque disturbance and fixed parameter disturbance compensation

17. LYAPUNOV ANALYSIS

18. Tracking error for adaptive eccentricity compensator

19. Desired and Actual Angular Velocity for adaptive eccentricity compensator

20. Predicted and actual disturbance using an adaptive eccentricity compensator

21. Angular position tracking error for adaptive eccentricity compensator

22. Actual and predicted disturbance

23. Disturbance Prediction Error

24. Angular Position Observer Error

25. Angular Velocity Observer Error

26. Tracking error for adaptive eccentricity compensation of two harmonic position dependent disturbances

27. Desired and Actual Angular Velocity for adaptive eccentricity compensator

28. Predicted and actual disturbance using an adaptive eccentricity compensator

29. SUMMARY