모델링 오차와 파라미터변동을 고려한 상태 관측기 설계

State Observer Design Considering Modelling Errors and Parameter Variations

IP speed controller is used as a main controller and it makes the system low overshoot and easy controllability. Load torque is estimated by Kalman filter algorithm and parameter controller is used against a rotor inertia negative variations. Parameter Controller (PC) is equipped with a torque observer implemented by software of a digital signal Processor. PC is a parameter controller which selects a moment of inertia J in responding to a load torque to control the system response.