Abstract
This paper describes optimal control for speed up Mechatoronic GARABO. GARABO is spinning machine that was developed at Nagano prefecture in the Meiji era. For control of Mechatoronic GARABO, we need to detect a yarn tension, because a yarn thickness has a relationship with a yarn tension. However, tension sensor has bad effects on yarn spinning. Therefore, we don't use tension sensor. Instead of it, we estimate a yarn tension using a disturbance observer. A mathematical model of Mechatoronic GARABO is made up of the system considers disturbance. We define what a yarn tension is a part of disturbance. We can take High speed control of Mechatoronic GARABO based Estimated tension control by a Disturbance Observer
