AMC26: High-performance DOb for robust position control
Abstract
This paper presents a new HPDOb that significantly improves disturbance estimation accuracy and robustness in motion control systems, surpassing the capabilities of conventional DObs. The proposed observer is analysed and synthesised in the discrete-time domain, providing a realistic representation of their dynamic behaviour and enabling enhanced controller design for practical applications. The core contribution of the HPDOb is a novel synthesis method that incorporates higher-order truncation error dynamics into disturbance estimation. Unlike conventional DObs, which are limited to zero-order truncation error, the HPDOb achieves first-order truncation error, yielding markedly improved estimation accuracy and robustness against disturbances in motion control systems. Simulation and experiments verify the stability and performance of HPDOb.
Cite
@article{arxiv.2601.02560,
title = {AMC26: High-performance DOb for robust position control},
author = {Emre Sariyildiz},
journal= {arXiv preprint arXiv:2601.02560},
year = {2026}
}