This paper analyzes some features of estimation error of the observer which estimates disturbance torque and velocity. This observer inputs the information of driving torque and current position, and outputs the information of disturbance torque and velocity. Although this observer is a practical tool to compose a robust control system, there has never been sufficient information to make the most of it. Thus the study to grasp some basic features of the observer is needed now. Also, it is very important to analyze the estimation error on it. This paper considers the estimation error caused by disturbance torque and observation noise because these seem to be the most significant causes. The result of analysis provides a practical way to select the pole allocation of the observer. Finally, the simulation and the experimental results are shown.
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