Two stage control based on an optimal control with a disturbance observer and a kalman filter

This paper describes a two stage control system based on an optimal control scheme with a disturbance observer and a kalman filter. It is combined a speed control system and a position control system, which are designed by an optimal control, respectively. The system controls the speed before a changeover point, and it controls the position after the changeover point. The controlled plant input that has to be adjusted by adding the appropriate value is proposed. It is operative to change the system continuously. The system is also designed by optimal control scheme so that it has the good robustness during a speed control. After the position control it controls the position from the changeover point to the set-point, so that the overshoot is irrespective of the set-point.