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Application of Unscented Kalman Filter in adaptive control structure of two-mass system

This paper investigates the application of Unscented Kalman Filter (UKF) for mechanical state variable and parameter estimation of the drive system with flexible joint. The adaptive cascade control structure with PI controller supported by two additional feedbacks, is selected in this study. The control structure coefficients are returnable according to the value of the mechanical parameters estimated by UKF. The effectiveness of the proposed approach is investigated under variety of simulation and experimental tests.