State dependent disturbance compensation method for motor control system with unknown input time delay

This paper proposes a periodic adaptive state dependent disturbance observer (PASDDOB) for motor control with the unknown input time delay, known output time delay and unknown phase delay from Q-filter to compensate the state dependent disturbance (SDD) that changes slowly by time. The PASDDOB has a structure that combines the state dependent disturbance observer (SDDOB) with the periodic adaptive learning compensation (PALC). The SDDOB compensates the known output delay and the unknown phase delay from Q-filter. The PALC compensates the unknown input time delay and the time-varying SDD. Therefore, the PASDDOB can compensate the SDD. The effectiveness of the proposed state dependent disturbance compensation method is demonstrated using MATLAB simulation results.