Torsional vibration control of a rotating mechanical system which incorporates a Hooke’s joint is investigated by pole assignment techniques. Linearized analytical models for the torsional system are established for the purposes of controller design. The resulting two-degree-of-freedom rotational system which contains time varying coefficients is parametrically excited due to an inherent non-linear velocity ratio across the Hooke’s joint. The controller is designed via full state feedback and observer based feedback in the transformed domain, using Lyapunov transformation. This transformation reduces the original time-varying system to a form suitable for controller design. A dual-system approach is employed to calculate the observer gain matrix for the time-varying system. Numerical simulation results show that the proposed control method is effective for suppressing torsional vibration of a Hooke’s joint driven system.

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