Application of a disturbance observer for a relative position control system

Young Doo Yoon, Eunsoo Jung, Seung Ki Sul

Research output: Contribution to journalArticle

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This paper presents an application of a disturbance observer for a relative position control system. In this system, since the prefixed motion profile is not defined ex ante, the acceleration state which is generated based on the profile is also not available. Therefore, feedforward acceleration controls cannot be used, and the position control performance is restricted solely by the bandwidth of the position controller. To enhance the control performance, disturbance observers can be utilized actively. The proposed method considers the position reference just as the result of a disturbance. Therefore, the relative position control can be performed by a disturbance observer as well as a position controller. As a result, the position control performance of the proposed method has been enhanced by up to 30% compared with that of the conventional method. The feasibility of the proposed method has been verified by experimental results using a high-precision linear motion control system as well as by analysis based on Bode plots.

Original languageEnglish
Article number5382533
Pages (from-to)849-856
Number of pages8
JournalIEEE Transactions on Industry Applications
Issue number2
Publication statusPublished - 2010 Mar 1



  • Disturbance observer
  • High-precision control
  • Linear permanent-magnet synchronous motor
  • Motion control
  • Relative position control

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