Robust Load Disturbance Torque Estimation for a DC Motor Drive System.

This paper presents a method for the design of a robust disturbance torque estimator. The benefit of this design is that it ensures robust estimation in the presence of model uncertainties while maximizing the sensitivity of the estimation to the disturbance torque. It is shown that this estimation scheme can be used to estimate both constant and nearly constant disturbance torques. In order to design the observers, the nominal plant model is expanded to incorporate uncertainties. Various cases for the design of the estimator are presented. All of the cases are tested with varying degrees of model uncertainty to ensure that robust estimation is achieved.