In servomotor control systems, it is difficult to obtain the accurate speed information by using a low resolution encoder because encoder pulses are very rare in a low speed range. To overcome this problem, we proposed the instantaneous speed observer to estimate the instantaneous speed and improved the system stability and also realized the disturbance rejection control. However, when the inertia moment changed, the estimated instantaneous speed had an error because the observer used the nominal inertia to calculate the speed. For this reason, the identification method of the inertia moment was proposed but it operated at about 50rpm speed command. In this paper, we propose novel identification methods for the average speed type instantaneous speed observer and identify the inertia moment in a very low speed range below 1 rpm.
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