A comparative study of linear observers applied to a DC servo motor

This paper presents a comparative study of six different linear observers. The studied observers are Luenberger Observer, Kalman (Filter) Observer, Unknown Input Observer, Augmented Robust Observer, High Gain Observer and Sensitive High Gain Observer. A Matlab simulation of a DC motor model is undertaken to verify the performance of the designed observers. The Comparisons were carried out different conditions in terms of white noise as disturbance, where the Probability Density Function (PDF) of estimated residuals has been used. For additive fault only the amplitude of residuals has been considered. The simulation results are given to show and compare the effectiveness of these observers on the speed of the servo DC motor.