IP Controller Design for Uncertain Two-Mass Torsional System Using Time-Frequency Analysis

Table 1

Inertias of DC motor, coupler, stiff shaft, and three masses.

Parameter	Inertia (×10^−6 kg⋅m^2)	Description
	1.361	Inertia of the DC motor with a reducer
	0.562	Inertia of the coupler
	0.019	Inertia of the stiff shaft
	5.303	Inertias of masses. stands for any one of the three inertias
	16.281
	44.196