Abstract
The analysis of nonlinear disturbance observer (NDO) is first given in detail and an equivalent differentiator structure is used to explain the NDO. The design procedure of NDO is given according to this equivalent structure. Then the structure and principle of the generalized differentiator-based disturbance observer (DBDO) is given and compared with NDO in their structure and algorithm. As one of DBDO, tracking differentiator (TD) based disturbance observer is applied to compare NDO in simulations. Simulations for disturbance estimation show that both NDO and TD based disturbance observer have very effective disturbance estimation performance but the later has less design restriction.
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