Dissertations / Theses on the topic 'Variable structure control'
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Ginsberg, David W. "Variable structure control systems." Master's thesis, University of Cape Town, 1989. http://hdl.handle.net/11427/18787.
Full textReay, Donald S. "Variable structure control of industrial robots." Thesis, University of Cambridge, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.257514.
Full textWoodham, Catherine Anne. "Eigenvalue placement for variable structure control systems." Thesis, University of Sheffield, 1992. http://etheses.whiterose.ac.uk/14793/.
Full textYallapragada, Subbarao. "Variable structure control and output feedback systems." Diss., Georgia Institute of Technology, 1993. http://hdl.handle.net/1853/13303.
Full textMostafa, Osama A. "Variable structure control system maneuvering of spacecraft /." The Ohio State University, 1986. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487267546980772.
Full textKypuros, Javier Angel. "Variable structure model synthesis for switched systems /." Full text (PDF) from UMI/Dissertation Abstracts International, 2001. http://wwwlib.umi.com/cr/utexas/fullcit?p3008373.
Full textHan, X. "Variable structure control of robot manipulators with computational efficiency." Thesis, University of Cambridge, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.603641.
Full textSu, Wu-Chung. "Implementation of variable structure control for sampled-data systems /." The Ohio State University, 1994. http://rave.ohiolink.edu/etdc/view?acc_num=osu148785431487298.
Full textMANCINI, MAURO. "Adaptive Variable Structure Control System for Attitude Spacecraft Applications." Doctoral thesis, Politecnico di Torino, 2023. https://hdl.handle.net/11583/2976603.
Full textSilson, P. M. "Theory and application of single input variable structure control system." Thesis, University of Bath, 1987. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.379595.
Full textNigrowsky, Pierre. "Variable structure control of robot manipulators (the example of the SPRINTA)." Thesis, Brunel University, 2000. http://bura.brunel.ac.uk/handle/2438/4827.
Full textHatipoglu, Cem. "Variable Structure Control of Continuous Time Systems Involving Non-Smooth Nonlinearities." The Ohio State University, 1998. http://rave.ohiolink.edu/etdc/view?acc_num=osu1391691862.
Full textHatipo?lu, Cem. "Variable structure control of continuous time systems involving non-smooth nonlinearities /." The Ohio State University, 1998. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487950153600937.
Full textLee, Jae Ryong. "Microprocessor-based soft variable structure control for D.C. motor speed regulation." Thesis, Virginia Polytechnic Institute and State University, 1985. http://hdl.handle.net/10919/50045.
Full textMaster of Science
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Ma, Shaodong. "Increasing the capacity of an ultrasonic communication systems using variable structure control." Thesis, University of Hull, 2011. http://hydra.hull.ac.uk/resources/hull:5384.
Full textSrai, M. S. "New methodologies and algorithms for the design of variable structure control systems." Thesis, University of Wolverhampton, 2005. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.421423.
Full textBingham, Christopher Malcolm. "Application of variable structure control methods to actuator nonlinearities in aerospace systems." Thesis, Cranfield University, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.358823.
Full textYU, YU-CONG, and 余裕琮. "Variable structure control of large-scale flexible structures." Thesis, 1988. http://ndltd.ncl.edu.tw/handle/67816930879393486046.
Full textChau, Jan, and 詹超. "Piezomechanics Using Intelligent Variable Structure Control." Thesis, 1998. http://ndltd.ncl.edu.tw/handle/51252293446675360235.
Full text大同工學院
機械工程研究所
86
The so-called piezomechanics contains three parts: piezoelectric translator, carriage mechanism and control system. It is well-known that a piezoelectric translator consists of the following advantages: (i) unlimited resolution, (ii) no moving parts, (iii) high efficiency, (iv) large forces, and (v) fast response. However, three drawbacks of piezomechanics: (i) it should only be load axially, (ii) it contains hysteresis feature, and (iii) the expansion is dependent on temperature, must be tackled. The first drawback is solved by the carriage mechanism design. The thesis focuses on the secondand third drawbacks by using an intelligent variable structure control (IVSC).First, a neural-network, including two different nonlinear gains and a lineardynamic system, is employed to learn the dynamics of piezomechanism. Then a forward control based on this learned model is used to achieve an acceptabletracking result. Because the tracking performance using forward control cannot be guaranteed as the system is subject to uncertainties, a discrete-time variable structure control (DVSC) is then synthesized with the previous forward control to improve the tracking performance. No state estimator is required for the proposed control. The stability of the overall system is verified by the Lyapunov stability criterion and the experiment is also presented to confirmthe usefulness of the proposed control.
WU, LIANG-HUI, and 吳亮輝. "A study on structure control of bridge by variable structure control system." Thesis, 1992. http://ndltd.ncl.edu.tw/handle/49938253613187356569.
Full textLee, Rong-Chyang, and 李榮全. "Specific designs in variable structure control systems." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/61197268993633047466.
Full text羅金賢. "DC Servo System with Variable Structure Control." Thesis, 1993. http://ndltd.ncl.edu.tw/handle/99766349686153744353.
Full text國立臺灣師範大學
工業教育研究所
81
The purposes of this thesis are to develop a servo system using a variable structure control (VSC) based on personal computer, and to introduce a stability condition for discrete-time sliding mode. First, the technique used in this system is systematic research method combining with VSC theories, software engineering and hardware engineering knowledge. The design of a controller applies a conventional variable structure theory in continous time domain. The system is designed with the window menu which provides the learning and experiment of appling VSC in speed and position control of DC servo motor. Secondly, considering that VSC is designed on the basis of a continous system and ususally implemented on a digital computer, a sampling time implies that an ideal sliding mode can not be achieved. A new control law is thus presented for the discrete-time variable structure and a condition is given for stability. Sliding mode can be obtained exponentially fast through this new approach and system can be kept robust to the plant parameter variations. Finally, simulation results are presented to verify the the effectiveness of the proposed approach.
ZHOU, QI-RUI, and 周啟瑞. "obust covariance assignment using variable structure control." Thesis, 1992. http://ndltd.ncl.edu.tw/handle/73834690625971057016.
Full textLee, Yuh Pyng, and 李豫平. "Continuous Variable Structure Control with Perturbation Estimation." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/53305261801063819982.
Full text國立中山大學
電機工程研究所
84
The continuous variable structure control with perturbation estimation (CVSCPE) design methodology is proposed in this thesis for a class of nonlinear dynamical systems. In general, the chattering phenomenon is often found in the conventional variable structure control (VSC), and the knowledge of the upper- bound of disturbances and modeling uncertainties is required to assure robustness. The proposed control scheme contains a simple estimation process embedded in a continuous controller so that the knowledge of perturbations is not required and the chattering phenomenon is totally eliminated. The tracking accuracy can be adjusted through the parameter of controller.
Chang, Hong Ming, and 張宏銘. "Variable Structure Control of an Electropneumatic Platform." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/15814472637285156351.
Full text國立臺灣科技大學
機械工程系
90
System uncertainties induced by structural interactions and nonlinear pneumatic natures are evident in an electropneumatic platform control system. In this thesis, based on the concept of decentralized control, the system is separated into four subsystems, and structure interactions are considered as unknown external forces. It is concerned with the application of pole placement control、variable structure model reference control and variable structure model reference adaptive control to improve the synchronization control of an electropneumatic platform. The pole placement control algorithm can assign the designed poles. Thus, the four subsystems would have similar dynamic characteristics in order to overcome the structural differences. However, since pneumatic servo system is nonlinear and time-invariant, its controlled accuracy would be limitedly improved. Variable structure model reference control is incorporated with the compensation of model tracking error and synchronization error of the four subsystems. It has better tracking capability and disturbance rejection. It can overcome parametrical variations and structure interactions. Master-slaver control algorithm is also included to compensate the synchronization error. Besides, variable structure model reference adaptive control has the advantages of the adaptive control and variable structure control. The system’s parameters can be adjusted on-line to determine an optimal switching surface and reduce the chattering phenomenon of the traditional variable structure control system. Finally, experimental results show that variable structure model reference adaptive control has excellent synchronization performance.
Jon, Yon-Huei, and 鍾勇輝. "Variable Structure Control and Fuzzy Control Applied to Flight Control Systems." Thesis, 1994. http://ndltd.ncl.edu.tw/handle/09484883841764827724.
Full text國立交通大學
控制工程系
82
The purpose of the thesis is to design flight controller to make aircraft to fulfill the following maneuvers:level flight, climbing ,level turn and level acceleration. The flight controller is designed with variable structure control law and fuzzy control law for a practical flight control system. For the attitude and altitude hold control system,variable structure controller is used to help the aircraft to reject the matching type uncertainty . For the velocity hold control system, we use fuzzy control law to design the thrust controller,it could avoid the "precise modeling" problem. When the aircraft takes an accelerating flight from subsonic to supersonic,the conventional flight controller must use the gain- scheduling approach to overcome the parameter variations due to the change of the velocity. It always increase the complexity for design. The advantage of variable structure controller is its robustness for such time-varying system and its simplicity in design. Because of the nonlinearity and complexity of the engine system,variable structure controller is not suitable. Here we may treat the fuzzy controller as a nonlinear PI- controller,there exists the suitable velocity performance for engine in every different velocity.
Hwa, Lan Chii, and 藍啟華. "The Position Control of Electrohydraulic Servomechanism via Variable Structure Control." Thesis, 1993. http://ndltd.ncl.edu.tw/handle/62170237469227713471.
Full text大同工學院
機械工程研究所
81
There are many distinct advantages of a hydraulic control system, such as a higher speed of response with fast motions, a higher torque stiffness, and a higher output power per unit weight. The hydraulic control system becomes the most common form of precise manipulation system. However, some nonlinear phenomena, such as the relationship between input current and output flow, the fluid compressibility, and the deadband due to internal leakage and hysteresis, make the control of hydraulic system difficult. This paper is divided into two part: Part 1 :The trajectory tracking of electrodraulic servomechanism via a sliding mode controller. Part 2 :The position control of electrohydraulic servomechanism via a variable structure control with a second-order sliding condition.
Chen, Yung-Feng, and 陳永峰. "Variable Structure Control for a DC Starter/Generator." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/28203696695805184256.
Full text國立中興大學
電機工程學系
88
This thesis aims to develop a DC starter/generator control unit (SGCU) by using variable structure control (VSC) method. An engine is engaged with the starter/generator, which either draws electric power from the battery or converts mechanical power into electric power feeding to the loads. As the engine speed increases from zero, the starter/generator operation translates from starter, field weakening, off-line, and generator modes. In starter mode, a high starting torque is required to overcome the inertial loads of the mechanical components. As the rotating speed goes up, a field weakening procedure is conducted to maintain a positive accelerating torque. When the engine approaches the idle speed, the starter is about to go off-line and switches its role to that of a generator. Field control is key to the SGCU design problem. Two primary issues in the field control problems — field weakening and voltage regulation, are elaborated in this thesis. In field weakening mode, the system is converted into a second-order current control problem; while in the generator mode, the system is a first-order voltage control problem. The system dynamics are linear, time varying, and with exogenous disturbances from loadings, engine speed, and field excitation voltage variations. A VSC method is employed to account for these disturbances. The system is implemented on two PC-based control platforms using a high-level language (Microsoft C) and a man-machine-language (LabVIEW), respectively.
Chen, Yung Long, and 陳永隆. "Application of Variable Structure Control in Flexible Beams." Thesis, 1995. http://ndltd.ncl.edu.tw/handle/48277856480484759231.
Full textLie, Yih-ming, and 賴一鳴. "Self-sensing Maglex System Using Variable Structure Control." Thesis, 1995. http://ndltd.ncl.edu.tw/handle/75519820345789314083.
Full text國立交通大學
控制工程研究所
83
Magnetic levitation technology has been largely developed and applied to modern industry in recent years. Possessing the qualities of noiselessness, low power wastage, and safety, it has prevailed the field for people's attention and interests in developing and researching. The maglev system is controllable and observable when we take the current of the coil as the system output, so we can replace the gap sensor by an observer. Such a system is called sele-sensing maglev system. This thesis also discusses and demonstrates that the reaching law control (a mew approach of VSS conrol) can well stabilie the system. In addition, the analog circuit, constructing based on the reaching lw approach and the reduced-order observer algorithm, is applied to the magnetic model in practice.
Lee, Jia-Ling, and 李嘉陵. "Variable Structure Control Design for Uncertain Interconnected Systems." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/3ptgc4.
Full text國立中央大學
電機工程研究所
84
This dissertation investigates the decentralized asymptotic stabilization problem for interconnected systems with matched and unmatched uncertainties by modified Lyapunov stability theory and variable structure systems theory. The first task is to to design robust state hyperplane. Some robust stability conditions of sliding mode have been derived. Based on the design procedure of optimal state hyperplane, the corresponding parameters of output hyperplane can be determined. The second task is to design variable structure control by state feedback and output feedback. According to the structure or bound of uncertainties four kinds of VSC are found. Some conditions to determine control gains and some new adaptive laws have been derived. The chattering attenuation is analyzed in detail.
李水來. "Discrete Variable Structure Control Combined with Grey Prediction." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/02205128270120479810.
Full textHUANG, MING-JIN, and 黃明進. "Design of variable structure quantitation feedback control systems." Thesis, 1987. http://ndltd.ncl.edu.tw/handle/79929704449215807620.
Full textWang, Yu-ning, and 王毓甯. "Variable Structure Control in Reciprocal State Space Framework." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/48082663782059327908.
Full text義守大學
電機工程學系碩士班
97
This thesis investigates variable structure control designs with state derivative feedback in reciprocal state space system. Fundamental sliding control algorithm is first carried out for unstable systems with matched external disturbance or mismatched uncertainties. To allow the systems slide onto the sliding surface at the beginning, integral sliding surface is then used in control design for system with matched external disturbance. Furthermore, for the reason of easy implementation, state derivative output feedback approach is studied and incorporated in variable structure control designs for systems with matched external disturbance and mismatched uncertainties. To deal with nonlinearities in practical applications, variable structure model-following control designs are developed for reciprocal state space system with dead-zone and sector nonlinearities. In addition to above control algorithms, two methods for designing appropriate sliding surfaces in reciprocal state space system are provided and three novel continuous and smooth switching functions are proposed. Simulations have been performed to successfully verify the design methods in this thesis.
Ming-Tsai, Lee, and 李銘財. "Variable Structure Control Applying to Discrete-Time Systems." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/63810951207191419341.
Full text國立交通大學
電機與控制工程系
91
This thesis discusses primarily about variable structure control applying to the discrete-time systems. As the occurrence of relative degree being two or more, it will lead to some problems during the procedures of the sliding mode controller design. The reaching condition utilized to design control law isn’t available any more. Therefore, this thesis will focus on solving this kind of problems for SISO and LTI systems, and a VSC scheme which combines the one-side approaching method and one-step method is proposed to deal with such kind of systems. After transforming the system’s continuous-time mathematical state space form into the discrete-time one, this method of the VSC is applied directly to design the controller. It is convenient for a practical implementation by using the microprocessor. Besides of that, some numerical simulations under several distinct conditions will also be shown, and the proposed method of the VSC in this thesis can demonstrate some features and advantages from these simulation results.
Tu, Fu-Tsai, and 涂富財. "ARX Estimation Model Based Integral Variable Structure Control." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/79526545155775224302.
Full text義守大學
電機工程學系
90
The objective of this thesis is to design an integral variable structure control (IVSC) rule. The IVSC rule is used to handle the control of systems with external disturbances or uncertainly systems. The method can be divided into two parts. The first part is a traditional variable structure control. It is used to against modeling error and external disturbance. The other one is the use of integral controller that is used to eliminate steady state error. To obtain the mathematical model of controlled plant previously is necessary while designing its controller. This thesis used the ARX method to finish modeling work simultaneous. Combine IVSC rule to improve the robustness. Finally, simulation results will show the practical capability.
Tsai, Wen-Hua, and 蔡文華. "Variable Structure Control for a Magnetic Bearing Syetem." Thesis, 1994. http://ndltd.ncl.edu.tw/handle/74893727478650089121.
Full text包志強. "Variable structure control of a hydraulic leveling system." Thesis, 1990. http://ndltd.ncl.edu.tw/handle/88980117145632021949.
Full textShih-Shien, Yu, and 游士賢. "Adaptive Variable Structure Control for Underactuated Mechanical System." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/34686786552154006508.
Full text國立屏東科技大學
車輛工程系所
95
Robot arms have been widely used in the industry for many decades. They have played a very important role in factory automation. However the control performance, on even system stability, would be deteriorated if some of the actuators fail during operation. Hence, in this study, an adaptive variable structure scheme is presented to solve the problem with actuator failure. It is shown that, under the control action proposed in this thesis, the motion of robot systems can maintain asymptotically stable although some of the actuators fail. Theoretical proof for the closed-loop dynamic system is given via Lyapunov theory as well as Barbalat’s lemma. To demonstrate the validity of the controller, a number of computer simulations are also performed.
YAN, JIN-ZHU, and 顏錦柱. "Variable structure control (VSC) to time delay systems." Thesis, 1992. http://ndltd.ncl.edu.tw/handle/85245816423031439994.
Full textKhurana, Hemamalini. "Variable structure control design for large scale systems." Thesis, 1985. http://localhost:8080/xmlui/handle/12345678/5404.
Full textJIANG, XING-YA, and 蔣興亞. "Adaptive model following control with variable structure system for position control." Thesis, 1987. http://ndltd.ncl.edu.tw/handle/38853899818609958305.
Full textPowly, A. A. "Variable Structure Control Based Flight Control Systems For Aircraft And Missiles." Thesis, 2004. https://etd.iisc.ac.in/handle/2005/1136.
Full textPowly, A. A. "Variable Structure Control Based Flight Control Systems For Aircraft And Missiles." Thesis, 2004. http://etd.iisc.ernet.in/handle/2005/1136.
Full textWu, Jia-Wen, and 吳家汶. "Variable Structure Control of the Motor-Flexible Mechanism System." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/06022320029763563594.
Full text中原大學
機械工程學系
88
This paper applies the variable structure control (VSC) and the stabilizer design by using pole placement technique to position control of the flexible slider-crank mechanism under impact. The VSC strategy associated with its best advantages of robustness with respect to parameter variations and external disturbances is employed to regulate the slider position. In order to suppress the flexible vibrations simultaneously, the stabilizer design is involved. For the practical impact consideration, three approaches including the generalized momentum balance, the continuous force model, and the continuous force model associated with the effective mass compensation are adopted and derived based on the energy and impulse-momentum conservations. Simulation results are provided to demonstrate the performance of the motor-controller-flexible mechanism not only accomplishes good tracking trajectory of the slider position, but also eliminate the vibrations of the flexible connecting rod.
林璟鴻. "Parametric Variable Structure Control of the Axially Moving Materials." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/01484441485627139490.
Full text中原大學
機械工程學系
85
This paper presents the active vibration control of the axially moving materials. A partial differential equation (P.D.E.) is referred to a distributed parameter system and selected as the object to be controlled. The equations of motion for the most common second-and forth-order, linear and nonlincar physical models of the axially moving materials are both analyzed. Two variant nonlinear terms are considered respectively in the controller design and discussions of the nonlinear system. A new control method called parametric variable structure control (PVSC) is proposed in this paper. The concept of control is implemented by applying a variation of axial tension to suppress the transverse vibration of the system. The Lyapunov method is applied to a distributed control source for resolving the problem which ensures a convergence of the given space distributed controlled magnitude in the P.D.E. Variable structure control (VSC) is used to obtain the controller for the modified time-dependent parameters in the linear and nonlinear system. The discontinuous switching logic in VSC law is allowed to change the structure of the controlled plant and improves the stability and the transient response. Asymptotic and exponential stability of the controlled system is proved for the credibility of the derived control input by proposing a series of the mathematical deductions. In order to realize the performance of PVSC algorithm, the finite difference method is chosen to simulate the controlled response. The derived control input is substituted into the governing equation before analysis. The numerical and the theoretical results can be checked about the coincidence between these two different methods of analysis.
LIN, WEN-TAI, and 林文泰. "Application of adaptive variable structure system in speed control." Thesis, 1986. http://ndltd.ncl.edu.tw/handle/41393961514347678679.
Full textChun-Chang, Tseng, and 曾俊璋. "Boundary Variable Structure Control of the Axially Moving Material." Thesis, 1998. http://ndltd.ncl.edu.tw/handle/20046672177206958355.
Full text中原大學
機械工程研究所
86
This thesis presents the active vibration control of an axially moving second- and fourth-order material system through a mass-damper-spring (MDS) control mechanism at its right-hand-side (RHS) boundary from the energy aspect. This system epitomizes a typical distributed parameter system (DPS). Heretofore, the system were reduced into finite-dimensional subsystems as analysis this kind vibration problem. However, the control spillover will be risen for a infinite dimensional system. Since the distributed control force is not easy to practice, the boundary control is proposed to suppress the flexible vibration of the system.A nonlinear partial differential equation (PDE) derived by using variation method and Hamilton's pricniple describes a distributed parameter system and directly selected as the object to be controlled. The PDE couples with an ordinary differential equation (ODE) which describes the MDS. The ODE is the RHS boundary condition of the moving material and the governing equation of the controller mechanism, simultaneously. The coupling provides the opportunity to suppress the flexible vibration by control force acting on the MDS. New boundary control laws are designed by sliding mode associated with Lyapunov method. A special Lyapunov functional is chosen to design the control algorithm and ensures convergence of the controlled system. Hence, the principle of designing the boundary controllers is to dissipative the total mechanical energy of the system and satisfies the existence condition of sliding mode. It is shown that the boundary controllers only include the states at both boundaries. Asymptotical stability of the control system is proved by the semigroup theory. Finally, finite difference scheme is used to validate the theoretical results.
Kuo, Yau-Lin, and 郭瑤琳. "Variable Structure Control Theory Apply on AC Induction Motor." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/95158194137406184013.
Full text國立中央大學
電機工程研究所
84
Fundamentals of the Variable Structure Control(VSC) theory have been developed almost exclusively. The most attractive advantage of using VSC is insensitivity to external disturbance and to variation in plant parameters. Otherwise, VSC is easier to physical implement then other method.So VSC is vary fittingly applying on the complex induction motor. This paper discusses the VSC is used by speed controller, speed estimater andflux observer of induction servo motor drives. Then the principles and fundamental characteristics of the system are presented on the basis of simulation and experimental results. The whole hardware processing is realized by 586 personal computer and IGBT.
Liao, Cheng Chan, and 廖承展. "Application of Variable Structure Control in the Gyroscopic System." Thesis, 1994. http://ndltd.ncl.edu.tw/handle/26464520750055826523.
Full text中原大學
機械工程研究所
82
In this thesis, VSC is applied in the transverse vibration control of the gyroscopic system. In VSC, a set of continuous subsystems are directed by an adequate switching logic to change the structure, and put the state trajectories sliding to desired point along the switching plane. The most disting- uished feature of VSC is its robustness. It is insensitive to parametric uncertainty and external disturbance. This method is attractive in the control of nonlinear system. In this thesis, controllers designed by VSC are used to suppress the transverse vibration of the gyroscopic system according to IMSC. Gyroscopic system, such as: (1.) rotating disk, applied in steam and gas turbines, grinding wheels, circular saws, and computer disk memories. (2.) axially moving string, applied in textile, computer and tape recorder industries. Transverse vibration reduces the performance in these application. So the transverse vibration control is a important task. In this thesis, Hamilton's principle is applied to derive the governing equations of the transverse vibrations spinning disk system with non-constant angular velocity and the nonlinear transverse vibrations axially moving string. Then, Galerkin method is employed to discretize these governing equations into ordinary differential equations. Finally, VSC is used to design the modal control force for each controlled mode. The controlled mode vibration of gyroscopic system with perturbation, external disturbances, and nonlinear term is supressed.