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This paper proposes a new three-inertia model that considers new transmission factors to achieve quick reaction force control. New transmission factors are confirmed by the analysis results of load-side dynamic characteristics. The load-side dynamic characteristics are measured via input impact torque using a hammer and motor-side velocity response. The experimental results of the input impact torque using a hammer confirm a new anti-resonance frequency with regard to the load-side dynamic characteristics. Therefore, new transmission factors are obtained based on the new anti-resonance frequency. However, the conventional three-inertia model has no new anti-resonance frequency. The consistency of the proposed three-inertia model that considers new transmission factors against plant system is confirmed by using a state observer based on the proposed three-inertia model. Additionally, the effectiveness of the force control system based on the proposed three-inertia model is confirmed by numerical simulations and experiments.

Quick Reaction Force Control for Three-Inertia Resonant System