The problem of controlled passage through resonance zone for mechanical systems with several degrees of freedom is analyzed. Existing control algorithms based on speed-gradient method require measurement of the full state vector of the system. In this paper a novel control algorithm based on a time-varying partial observer for the supporting body vertical velocity estimation is designed. The proposed observer is based on the simplified nonlinear model of the two-mass oscillatory system. Efficiency of the controlled passage through resonance zone with the control algorithm based on the proposed observer is analyzed by means of computer simulation for full model of the mechanical system.
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