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Discrete-Time ESO for the Disturbance Estimation in the Position Control of a PMSM Drive

This paper presents a discrete-time extended state observer (ESO) for the disturbance estimation in the integral state feedback position control of a permanent magnet synchronous motor (PMSM) drive. First, the system model and the state feedback control are introduced. Next, a discrete-time ESO is formulated for both the state and the disturbance estimation. The disturbance estimation is used actively to compensate for the lumped disturbance in the position control of the PMSM drive. Simulation results are presented to evaluate the proposed methodology. The results demonstrate that mismatched disturbances can be mitigated by the application of the proposed discrete-time ESO.