Tracking control of motion control systems with disturbance observer based on high-order fully actuated system approach

This paper investigates the tracking problem of motion control systems driven by permanent magnet synchronous motors (PMSMs) in the presence of unknown disturbances. In contrast to using the model of state space methods, this study adopts a different method by initially transforming the model of a motion control system driven by PMSM into a high-order fully actuated (HOFA) system. Subsequently, a controller is designed based on the HOFA system approach, and a closed-loop linear system with disturbances is obtained. To handle the impact of disturbances, a disturbance observer is employed to estimate the disturbance. The validity of the proposed algorithm is assessed through theoretical analysis, and a numerical simulation is also conducted to further support the findings, thereby underscoring the effectiveness of the proposed approach.