Robust position control of DC servomotors using adaptive gain law

In position control for DC servomotors using an equivalent disturbance torque observer and a speed observer, the position control ability of DC servomotors is affected by the observers´ estimation error. In this paper, the robust position control of DC servomotors considering those estimation errors of equivalent disturbance torque observer and speed observer is proposed. The simulation and experimental verification are shown to demonstrate the validity of the proposed method