This paper deals with a well-known type of MIMO electromechanical systems used in industry, which is the multi-motor elastic coupled system (ECMMS). This system is characterized by its complexity, nonlinearity, oscillatory behavior and associated mechanical vibration. The oscillatory behavior of this system is coming from the multiple elastic coupling which causes tortional oscillations and in some cases, tortional resonance which leads to various damages in the system. In literature, classic multi-loop control scheme has been applied to this type of systems. In this paper, a decentralized structure of control system is proposed for controlling the ECMMS. The core controllers of the proposed decentralized control system are self-adaptive local controllers. Two different adaptive algorithms are adopted practically and given comparable results. The main target of the proposed algorithms is to attenuate the effect of mechanical oscillations resulted in the ECMMS effectively. An experimental prototype of ECMMS is used to provide related experimental data. Moreover, stability analysis and convergence criterion based on Lyapunov stability theory is presented in the paper.
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