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Abstract—To improve the ability of anti-interference and robustness of planar motors, this article proposed a proportionalderivative (PD) position control method using a nonlinear extended state observer (NESO). Firstly, the dynamic model of a planar motor is given. And then, the lumped disturbance of the planar motor system is observed by using a developed nonlinear extended state observer, in which the observer parameters are committed to ensuring the stability of the NESO. The observed disturbance is compensated to the output of the PD controller, to enhance the ability of disturbance suppression and robustness of the planar motor control system. Moreover, simulation results prove that the proposed method can effectively suppress the disturbance of the planar motor to achieve satisfactory control performance and verifies the effectiveness and feasibility.

Nonlinear-extended-state-observer-based PD position control of planar motors Zhi-hui Xu, Su-Dan Huang,Guang-Zhong Cao,Tao Liang

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