Observer based tuning techniques and integrated SAW torque transducers for two-inertia servo-drive systems

A controller design and tuning methodology is proposed that facilitates the rejection of periodic load-side disturbances applied to a torsional mechanical system, whilst simultaneously compensating for the disturbance observer's inherent phase delay, thereby facilitating the used of lower bandwidth, practically realisable, disturbance observers. The merits of implementing both a full- and reduced order observer, is investigated, with the latter being implemented with a new low-cost, high-bandwidth torque sensing device based on surface acoustic wave technology