The speed controls of a three-inertia system with conventional PI/PID controls are discussed, the analysis procedure based on the parameter plane method is presented. It is shown that the inertia distribution of the three-inertia system dominates the dynamic behavior. The integrated design of controller and structure is studied, and it is shown that the rational distribution among the three inertias is important to improvement of the dynamic characteristic and reduction of the controller's complexity. In this case, a simple PI control can provide good performance. Furthermore, PID control contributes the rational inertia distribution. The effectiveness is verified by experiment.
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