Generalized Extended State Observer Based Speed Control for DC Motor Servo System

This paper presents a speed control method for a DC motor servo system (DCMSS) based on a generalized extended state observer (GESO). First, the model of the DCMSS and a preliminary-standard ESO based control method are described. Next, a GESO based control method is proposed for the non-integral-chain DCMSS to estimate and compensate the lumped disturbance in real time. By appropriately choosing a disturbance compensation gain, the effects of the parameter variations and the load disturbance are removed from the output channel of the system. Then, a stability criterion and a design algorithm for the GESO-based DCMSS have been developed. Finally, simulation results demonstrate the validity of the method.