Implementation of disturbance observer for compensating backlash
Chi-Seung Kim, Min-Jung Kang, Jin-Hwan Kim, Uk-Youl Huh · 2009 ICCAS-SICE · 2009
The methods of implementation of disturbance observer for compensating backlash and rejecting the noise are addressed in this paper. The disturbance observer is designed with the inverse model of the plant and Q-filter. In the realization of the disturbance observer, some problems, which are measurement noise caused by encoder, reduction and discretization of disturbance observer, should be considered.