Autobalancing DCAL controller for a rotating unbalanced disk

In this paper, we design a control strategy for a rotating, unbalanced disk. The control strategy is composed of a control torque and two control forces. The control strategy regulates disk displacement while ensuring that the unbalanced disk tracks a desired angular velocity trajectory. Specifically, the control uses a desired compensation adaptation law and a gain adjusted forgetting factor to achieve exponential stability despite the lack of knowledge of the imbalance-related parameters provided a mild persistency of excitation condition is satisfied.