Mazunin V.P. Dvoynikov D.A. Improving response in control of adjustable electric drives of mechanisms with elastic links // Russian Electrical Engineering. 2012. Volume 83, No 10. P. 556-561.

A new method of combining control and regulation in order to improve the response of electro
mechanical systems with elastic mechanisms is proposed. Analytical dependences for the adjustment of reg
ulators are derived elastic oscillation dampening taken into account. A solution to the problem of searching
for achievable levels of physical (amplitude) limitations is proposed.