Robust speed control method for DC servomotor using adaptive gain law

Using the equivalent disturbance torque observer for controlling DC servomotors is very useful. However, the observer has estimation error, the estimation error is an important issue for control performance or stability of the system. This paper presents the robust speed control scheme considering the estimation error. The proposed control scheme provides a class of controllers which can compensate the estimation error of the observer. In order to verify the validity of the proposed control scheme, simulation and experimental results are also presented