Disturbance compensation control of direct drive motor using an adaptive observer

An adaptive scheme for cancellation of unknown disturbances in the control of an DD motor is proposed. The design is based on coprime factorization of the plant model over a ring of proper stable rational functions. This description gives a simple structure in which there is no need of canonical transformations. An adaptive adjusting law is used to identify the unknown parameters of the compensator cancelling the disturbances. Comparison between the proposed scheme and an existing controller is given