Pd control of a press platform and a proof of stability using the hunt-crossley model

Jeong Un Nam, Yun Jae Yang, Sun Lim, Tae Woong Yoon

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


This paper presents a PD force controller for a press platform to inspect the surface of a wind power blade. The Hunt-Crossly model is employed for the platform, where the force is composed of a nonlinear spring and a damper. Considering the shape of the probe, this model is more accurate than the linear spring-damper models because it captures some of the nonlinearities of the platform. However, the nonlinearities make it harder to assess the stability of the closed-loop. This problem is solved by designing a Lyapunov function and an invariant set, which leads to a stability proof. Simulations and experiments are performed, and the results are consistent with this mathematical analysis. The effectiveness of the control scheme is also observed in the simulations and experiments.

Original languageEnglish
Pages (from-to)187-193
Number of pages7
JournalJournal of Institute of Control, Robotics and Systems
Issue number3
Publication statusPublished - 2019 Jan 1


  • Hunt-Crossley model
  • Invariant set
  • Lyapunov stability
  • PD force control
  • Wind power blade

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Applied Mathematics


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