Novel technique of optimal state observer construction for microprocessor-based electrical drive control

The paper contributes to the solution of the problem of optimization of the estimation process caused by an abrupt change in a load torque of an electric drive. An analytical solution is given for two problems: under what conditions is maximal speed convergence of mechanical state variables (angular position, speed and load torque) estimations to their actual values provided and how is the required stability of the estimation process achieved. The optimal observer has been simulated and the results show its one-step convergence and excellent dynamic accuracy.