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In industrial applications, a servo controller with state feedback signals generally includes a PID or PI compensator. This controller shows a disturbance robustness to the coulomb friction and gravity as constant disturbances, and thus steady state errors asymptotically approach zero. When the state signals are not available, however, a differentiator is used in the control loop. On the other hand, the use of a differentiator causes phase delays and has a limitation in the control system characteristics. The use of observer basically gives a solution to this inconvenience but, at the same time, loses the disturbance robustness in the original control system. In this paper, the proposed disturbance robust observer designed in a frequency domain is simply described and the overall control characteristics are analyzed when this observer is applied to the system. It is suggested through the analysis that the disturbance response with the robust observer has a disturbance model itself in its numerator characteristics. Finally, the effectiveness of using the robust observer is confirmed by the motor positioning control system.

Disturbance Robustness of the Servo Mechanism with Robust Observer