Nonlinear PI control of eccentricity compensation problem

This paper deals with the eccentricity compensation which is a problem of rejecting oscillatory position-dependant disturbances with unknown frequency and unknown amplitude. We present an original solution based on Nonlinear PI (Proportional Integrator) approach which ensures global asymptotic stability. We consider here that disturbances are produced by eccentricity in mechanical systems and drives. We also assume that the oscillatory disturbance is position time dependant. Also a comparative study with an adaptive controller which uses a velocity-dependant internal model of the eccentricity is presented.