Autobalancing DCAL controller for a rotating unbalanced disk

In this paper, we design a control strategy for a rotating, unbalanced disk. The control strategy, which is composed of a control torque and two control forces, regulates the disk displacement and ensures angular velocity tracking. The controller uses a desired compensation adaptation law and a gain adjusted forgetting factor to achieve exponential stability despite the lack of knowledge of the imbalance-related parameters, provided a mild persistency of excitation condition is satisfied. (C) 2002 Elsevier Science Ltd. All rights reserved.