Using Output-Feedback Disturbance Observer to Enhance Disturbance Suppression of PID Controllers for DC-Motor Trajectory Tracking Systems
During trajectory tracking, a Proportional-Integral-Derivative (PID) control system for DC motors may exhibit unacceptably large tracking errors when exposed to severe, sudden time-varying disturbance torques. To address this, a PIDA (Proportional-Integral-Derivative-Acceleration) controller is constructed by augmentin...