A compound method based on extended disturbance observer and adaptive robust control for motion control of DC motors

This paper proposes an adaptive robust control (ARC) with extended disturbance observer (EDO) for motion control of DC motors. An adaptive part for structured uncertainties, an EDO for unstructured uncertainties and a feedback robust law for global robustness are designed in this method. The theoretical analysis guarantees a prescribed tracking performance under various uncertainties and comparative numerical simulation shows the excellent high-precision performance of proposed method on DC motor model.