High-Gain Observer Based Output Feedback Controller for a Two-Motor Drive System: A Separation Principle Approach

Multi-motor drive systems are nonlinear, multi-input multi-output (MIMO) and strong-coupling complicated system, including the effect of friction and elastic, backlash. The control law for this dive system much depend on the determining of the tension. However, it is hard to obtain this tension in practice by using a load cell or a pressure meter due to the accuracy of sensors or external disturbance. In order to solve this problem, a high-gain observer is proposed to estimate the state variables in this drive system, such as speeds, tension. An emerging proposed technique in the control law is the use of high-gain observers together with state feedback control to obtain a separation principle property for the stabilization of whole system. The theory analysis and simulation results point out the good performance of the proposed output feedback for the drive system. © Springer International Publishing AG 2018.