Regular Article

Design and processor-in-the-loop implementation of Backstepping Integrator Control for a multi-drive web winding system

Laboratory of Mathematics, Computer and Engineering Sciences Laboratory (MISI), Team: Systems Analysis and Information (ASTI). FST Settat. Hassan First University of Settat University Complex, Km 3, Casablanca Road, P.O. Box 577, Settat 26000, Kingdom of Morocco

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Received: 13 April 2025
Accepted: 28 January 2026

Abstract

This work presents a nonlinear control approach specifically tailored for a Multi-Drive Web Winding System (MDWWS), utilizing the Integral Backstepping Control (IBSC) technique. The proposed strategy is designed to improve the precision of both speed control and mechanical tension regulation across multiple coordinated drives. A detailed formulation of the control law is provided, grounded in the Backstepping framework and extended with integral action to enhance steady-state performance. The theoretical foundations of the IBSC method are thoroughly discussed, and its performance is benchmarked against the conventional Proportional-Integral (PI) controller. The comparative study focuses on evaluating the robustness and adaptability of each control method in the presence of system parameter variations and external disturbances. To validate the effectiveness of the proposed control strategy, a Processor-in-the-Loop (PIL) setup is implemented, integrating automatic code generation with hybrid simulation. This platform enables real-time execution of the control algorithm on the TMDSCNCD28379D DSP board while emulating the dynamic behavior of the web winding system in Simulink, thus providing a realistic and efficient environment for performance evaluation.