Algebraic Observer to Estimate Unmeasured State Variables of DC Motors

In this article, an original algebraic method is used for the estimation of state variables. The estimation is used to implement a position con- trol scheme for DC motors. In addition, the estima- tion of the Coulomb's friction coe-cient of the servo motor model is also investigated. The approach is based on elementary algebraic manipulations which lead to speciflc formulaes for the unmeasured states. The state estimation algorithm is verifled by simula- tions.

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