High gain observer-based feedback nonlinear control system applied in the position control of a servomechanism with a nonlinear perturbation

This work presents a non-linear feedback control proposal to make corrections in the position of a 60 kg.cm torque servomotor, utilizing a high gain observer simulating the application of a servomechanism adjustment. The use of this type of control allows you to extend your tuning to minimize errors caused by the presence of disturbances to the system. The disturbances exposed in this article are modeled by the presence of an oscillation of a servomotor position. To keep the position deviation, it is proposed to use a servo with a high gain observer-based feedback control to correct these disturbances