Disturbance-Rejection Control of Motor Position Servo Systems with Experimental Evaluation

In this paper, a position servo controller is designed for motor position servo control, incorporating equivalent-input-disturbance (EID) compensation and a finite-time control law. This approach effectively suppresses unknown disturbances and ensures high-precision tracking of reference inputs. The disturbance estimate is then fed back to the control input to establish an anti-disturbance position servo controller. This controller is compared with a controller based on finite-time extended state observer. Finally, simulations and experiments verify that the proposed method can achieve fast and accurate positioning, demonstrating strong robustness against external disturbances and uncertainties.