Abstract
A disturbance observer is considered to estimate disturbances that interfere with the motion of a controlled system together with the state. In this paper, we design a disturbance observer for higher-order disturbances by applying
the same-dimensional observer concept. then, we extend the discussion to a servo system by using a high-order disturbance observer, and apply to tracking control of fourwheeled vehicles. furthermore, the forces consider that
four-wheeled vehicle is generated to while driving, such as wind and viscous friction with the road, so as to achieve
both disturbance estimation and tracking objective.
