Experimental evaluation of a DO-FPID controller with different filtering properties

The paper brings experimental results and evaluation to modular disturbance observer based filtered PD and PID controller design based on theoretical results of papers Huba (2013b,c). The approach is focused on achieving the possibly best filtering properties by keeping nearly constant dynamics of the setpoint responses. The developed controller applied to a positional DC motor control is evaluated for different values of the tuning parameter TD and different filter orders n by using time and shape related performance measures.