Linear Extended State Observer based Anti-Interference Robust Position Tracking Control for Two-Inertia Systems with Uncertain Load Disturbance

In order to suppress the load position control error due to torsional stiffness of two-inertia systems, a linear extended state observer based anti-interference robust position control is proposed to overcome this issue. It is composed of a back-stepping position controller (BPC) and a linear extended state observer (LESO), and validated on a permanent magnet synchronous machine (PMSM) based two-inertia servo platform. The test result shows superior performance in the suppression of position error and good robustness against uncertain parameter changes and load interference.