Development of stability enhancement algorithm for adaptive DOB

The original ADOB is able to cope with disturbances in various frequencies, but it has a stability issue. In order to solve it, a dead-zone algorithm is suggested, which led to a performance degradation in disturbance rejection. Accordingly, We are suggesting a new design for a Q-filter in adaptive disturbance observer (ADOB). This advanced Q-filter makes the structure of the entire system similar to a peak-notch filter. In this paper, we will verify the effect of the suggested method through simulation.