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Feedback control based on estimators applied on welding robot motor

A way to impose a desired behaviour in a system is to reallocate their poles, a well-known technique for this is the Pole Placement Control. In this work, it is made a performance comparison between two state observers for state feedback of this controller: an classic state observer and a proposed alternative which is based on State Variable Filter. This alternative filter improves robustness to the control law due to its independence of system plant. Moreover, the filter has a simple structure. To accomplish performance comparison, the plant of a linear welding robot motor was utilised with their identified parameters. The modelling of this plant is also presented, as well as simulation results.