零点と不安定極をもたない2次系に対する外乱オブザーバとモデル誤差抑制補償器の関係について

抄録

DOB (Disturbance Observer) and MEC (Model Error Compensator) are known as similar mechanisms to reduce disturbances such as modeling errors and various frictions. This paper discusses the relationship between DOB and MEC for second-order systems without zeros and unstable poles, and the experimental verification of their performance.