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Modeling uncertainties and measurement noise in physical servo systems severely deteriorate their tracking performance. In this paper, an output feedback control strategy which integrates a discontinuous robust control with extended state observer via feed-forward cancellation technique is proposed for high precision motion control of a dc motor. The designed extended state observer can estimate the...
Unmodeled disturbances always exist in physical servo systems and degrade their tracking performance. In this paper, a practical method named robust control based on disturbance estimation is proposed and integrated for high-accuracy motion control of a dc motor. A finite-time disturbance observer (FTDO) for the unmodeled disturbances is designed and disturbance estimation is used to compensate the...
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