PI - like Observer Structures in Digitally Controlled DC Servo Drives : Theory and Experiments Milica

This paper deals with the problem of the shaft speed estimation in a digitally controlled DC servo drive. Some different observer structures are presented and compared. The developed extended observers enable proper estimation of the plant state variables, even under the action of a constant or slow varying load torque disturbance. Two useful procedures for the adjustment of observer gains are proposed and verified by both numerical simulations and real-time experimental results.