Adaptive observers for reducing effects of unmeasurable disturbances in motion control systems

This paper is concerned with a design methodology for disturbance observers. One advantage of the proposed design method is that the trade off between the command following and unmeasurable disturbance suppression is made transparent in the control system design. This reduces the effort of obtaining a highly accurate system model. Another aim in this research, relative to previous works, is to study how to adaptively obtain the accurate filter (the main component in disturbance observer) for easy implementation. Robust feedback controller for disturbance rejection is used in conjunction with a feedback controller located in the position loop to construct a control structure for position motion control. Simulation results demonstrate the effectiveness of the proposed controller.