Nonlinear servo motion control based on unknown input observer

Ligang Wang, Yunpeng Li, Jing Na*, Guanbin Gao, Qiang Chen

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

2 Citations (Scopus)
342 Downloads (Pure)


This paper presents an alternative control method based on a new unknown input observer (UIO) for servo motor systems with unknown time-varying nonlinear dynamics and disturbances. By defining auxiliary filtered variables, an invariant manifold is derived and used to design the estimation of unknown dynamics. The new observer has only one scalar to be set, and thus can be easily incorporated into the control design to achieve precise output tracking. The convergence of the proposed estimator is compared with other three well-known schemes. Comparative simulation results show the satisfactory estimation and control performance.

Original languageEnglish
Title of host publicationProceedings of 2016 Chinese Intelligent Systems Conference
PublisherSpringer Verlag
Number of pages10
ISBN (Electronic)9789811023354
ISBN (Print)9789811023347
Publication statusPublished - 2016

Publication series

NameLecture Notes in Electrical Engineering
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119


  • Disturbance observer
  • Nonlinear systems
  • Servo motion control
  • Unknown input observer


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