A novel algorithm for sensorless motion control of flexible structures

Islam Shoukry Mohammed Khalil, Emrah Deniz Kunt, Asif Sabanovic

Research output: Contribution to journalArticleAcademicpeer-review

5 Citations (Scopus)
13 Downloads (Pure)


This article demonstrates the validity of using an actuator as a single platform for measurements during a motion control assignment of flexible systems kept free from any kind of measurement. System acceleration level dynamics, parameters and interaction forces with the environment are coupledin an incident reaction torque that naturally rises when a flexible system is subjected to an action imposed by an attached actuator to the system. This work attempts to decouple each of the system parameters out of the incident coupled reaction torque at the interface point of the actuator with the flexible system by way of measurements taken from the actuator, not from the system. The identified parameters, along with the estimated states, are used to achieve sensorless motion control for flexible systems.

Original languageEnglish
Pages (from-to)799-817
Number of pages19
JournalTurkish journal of electrical engineering and computer sciences
Issue number5
Publication statusPublished - 2010
Externally publishedYes


  • Disturbance observer
  • Flexible systems
  • Motion control
  • Reaction torque observer


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