Suppression of Torsional Oscillations in Systems with Flexible Couplings and Repeated Iterative Operations

This paper addresses the problem of mechanical resonance in high-performance servo drives operating under repeated iterative tasks. The elastic coupling between the motor and the load can cause mechanical resonance, leading to forced torsional oscillations in the system. While various solutions have been proposed to suppress such oscillations, the effectiveness of Iterative Learning Control (ILC)-based structures for this issue has not yet been thoroughly investigated. This paper provides a brief overview of anti-resonant servo system architectures and evaluates the potential of ILC-based serial compensation as a viable anti-resonant control strategy.