Disturbance Observer in State Space

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This chapter introduces how to design disturbance observers (DOBs) in continuous-time systems, following the basic observer theory of modern control theory, especially identity input disturbance observer, identity output disturbance observer, identity reaction force observer, minimal order disturbance observer, identity higher order disturbance observer, and periodic disturbance observer. To design an observer, i.e. estimate, a state variable, the system must be observable. The chapter discusses the observability condition in the context of a DC motor. Although torsional springs and the like are not installed in general motor drive systems, they were added for learning observability. The observability matrix is observable if rank is equal to the order n, and unobservable if rank is less than the order n.