Disturbance rejection analysis of a disturbance observer based velocity controller

Abstract

Motion control usually includes the precise control of position/velocity and acceleration control while accurate acceleration control is not useful in many applications. Traditional position/velocity control is derived by feedback based, PID controllers. However the disturbance observer further increases the stability and robustness of the controller. In this paper we assess the effectiveness of the Disturbance Observer working together with a tuned PID controller. Velocity response is compared with and without the disturbance observer. The proposed disturbance observer based velocity controller produce better results than the traditional velocity controller.