High speed motion control system based on predictive observer

Phase lags limit loop gains and ultimately reduce the responsiveness of the high speed motion control system. We propose a predictive position and velocity observer. The predictive observer can provide a significant phase lead therefore the controller can be designed as if the control system does not have these phase lag elements. The implementation and tuning steps of the observer is also introduced. The simulations verify that the proposed observer can significantly improve the performance of the motion control system.