摘要：AbstractThis work shows that a Proportional Derivative controller with weighted Derivative action plus a Disturbance Observer, is equivalent to a Proportional Integral Derivative (PID) controller with weighted Proportional and Derivative actions, when they are applied to servo drives. A byproduct of this equivalence is a tuning rule for the PID controller, called the DOB tuning, which is expressed in terms of the cutoff frequency of the filter employed in the DOB. Experiments in a laboratory testbed allow assessing the performance of a PID controller under the resulting tuning formulae.
