Disturbance Observer Synthesis for Linear Systems: Application for DC Motor

This paper considers the problems of robust observer design for the linear system with the existence of the disturbances. A new method based on the unknown input method to synthesize a robust observer is proposed to estimate the unmeasurable states and disturbances, simultaneously. With the aids of Lyapunov methodology and Linear Matrix Inequality (LMI) technique, the conditions for synthesizing observer are derived. Finally, an application for DC motor driving an internal load is introduced to prove the effectiveness of the proposed method.