Mechatronic stiffness with disturbance force rejection

Michael Valášek, Martin Nečas, Jan Pelikán


This paper deals with a method for estimation and compensation of acting disturbance force applied to a two mass structure. System controllability and observability of the proposed system is discussed and the effectiveness of the applied disturbance rejection control is verified by simulations. The simulation results will further be verified by experimental results on a test stand.


mechatronic stiffness, disturbance rejection, controllability, dynamic stiffness.

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ISSN 1801-1217 (Print)
ISSN 1805-9422 (Online)
Published by the Czech Technical University in Prague, Faculty of Mechanical Engineering