Skip to Main Content
In this job a new speed control design method based on speed and disturbance torque observer is proposed. The main novelty is the use of a multirate observer synchronized with the encoder pulses. The advantage of this type of observer is the effective reduction of the measurement noise due to the encoder quantization. The system is modelled as a multirate system with periodic output map. This allows to represent the frequency response of the global system to the external disturbance torque and the encoder noise in order to obtain an appropriate design of the controller. As the controller is based on LQG/LTR the robustness is guaranteed.