Using Division Method to Convert the K-Input MIMO System to SISOs System Combined with Optimal Algorithm Application to Control of a Flexible Link System for the Oscillation (K =1,2)

Table 1

Physical specifications of the real system [14].

Symbol	Description	Value	Unit
Beq	Equivalent viscous damping coefficient	0.004	Nm/(rad/s)
η g	Gearbox efficiency	0.9
Kt	Motor torque constant	0.0134	N-m/A
Km	Back-emf constant	0.0134	V-s/rad
Jeq	Moment of inertia of the rotor of the motor	2.08x10^-3	Kg.m^2
Rm	Armature resistance of motor	1.9	Ω
η m	Motor efficiency	0.8
JL	Equivalent moment of inertia at the LINK	0.0038	Kg.m^2
m	Mass of LINK	0.115	Kg
L	Length to LINK’s center of mass	0.25	m
Ks	Stiffness of LINK	1.3	Nm/rad
BL	Equivalent viscous damping coefficient of LINK	0.00004	Nm/(rad/s)