OUTPUT FEEDBACK PD LIKE CONTROLLER DESIGN FOR MECHANICAL SYSTEMS

For second-order matrix dynamic systems using displacement measurements only, this paper presents an output feedback proportional-derivative like control algorithm without using any observer structure to estimate the velocity. The proposed controller algorithm that is a low-order dynamic output feedback control law is simple and easy to implement. It is shown that our proposed controller inherently has low-pass filter property in which it can successfully replace the derivative terms in PD state feedback control laws. Finally, a numerical example is explained for demonstrating the applicability of the proposed scheme.