Servo control system design with an observer

In this paper, we propose a servo control system with an observer which can estimate states as well as disturbance. The overall control system consists of two parts: a position-speed controller and an observer. The optimal state observer is designed with the Kalman filter algorithm to estimate the unknown states optimally. The measurement noise is considered due to low resolution incremental encoder in observer design. There are a lot of disturbances in servo control system due to unexpected loads and other reasons. Also, the observer can estimate the disturbances using an inverse matrix of system dynamic equation. The effectness of the proposed algorithm is shown through simulation and experiments. The results of the experiments are similar to those of simulations.