This paper analizes some features of estimation error on the observer which estimates distur bance 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, we have never enough information to make the most of it. So the study to grasp some basic features of the observer is needed now. And it is very inportant to analize the estimation error on it. Then, this paper considers the estimation error caused by disturbance torque and observation noise, because these seem to be the most significant causes. And the result of analysis gives the practical way to select a pole allocation of the observer. Finally, the simulation and the experimen tal results are shown.
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