Modeling and Robust Control of Web Winding System with Sinusoidal Tension Disturbance

The nonlinear model of a flexible web winding system composed of three motors and two load cells is derived based on the general laws of physics. The model parameters are identified using optimization methods. Robust controller is designed to obtain good reference tracking properties as well as to properly reject sinusoidal disturbance for suppressing vibrations. The proposed approach is based on the frequency weighting functions which give an extended model to design a stabilizing H_infin controller. The method is applied to the flexible web winding system to compensate the web tension disturbance caused by the sinusoidal vibration on winder