Nonlinear Servo Motion Control Based on Unknown Input Observer

Abstract

General rightsThis document is made available in accordance with publisher policies. Please cite only the published version using the reference above. Full terms of use are available: http://www.bristol.ac.uk/pure/about/ebr-terms The new observer has only one scalar to be set, and thus can be easily incorporated into the control design to achieve precise output tracking. The convergence of the proposed estimator is compared with other three well-known schemes. Comparative simulation results show the satisfactory estimation and control performance. Metadata of the chapter that will be visualized in SpringerLink Keywords (separated by '-')Servo motion control -Unknown input observer -Nonlinear systems -Disturbance observer U N C O R R E C T E D P R O O F