“…Compared with the clean force approach, the clean current approach can suppress most of the vibration force with less computational effort, less vibration displacement, and less power consumption. Additionally, it is structurally stable, and parameter variations in the controlled object are independent [15]. Compared with methods of fuzzy control [11], nonlinear decoupled disturbance observer [12], adaptive forced balancing [13], Furrier coefficient identification [14], generalized notch filter [16], the adaptive notch filter can reduce the computation effort or memory space [17], especial suitable for the MSCMG with a rotor at constant speed and many control tasks.…”