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This paper proposes a model-based two-degrees-offreedom (2DOF) state-space speed controller design for a twomass mechanical system. Analytical tuning rules for a feedback gain, reduced-order state observer, full-order state observer, and prefilter are derived. The proposed design rules enable automatic tuning of the controller if the mechanical parameters are known. The prefilter is designed for step, ramp, and parabolic command tracking. The effects of the time delay, measurement noise, anddoi:10.1109/tia.2014.2306977 fatcat:sth2ndtfk5hdvd7ip3c6bjpfle