Design and Implementation of Discrete Time Observer Based Backstepping Controller for a 2DOF Servomechanism

This is the authors' abstract. We don't add key points for this paper.

The two degrees of freedom servomechanism has many applications, including in gimbaled seekers. These mechanisms require closed-loop control to perform properly. In this paper, an observer-based multi-input-multi-output hybrid controller is designed for a two-degree-of-freedom servomechanism. Since in the model presented in this paper, disturbances on the mechanism are considered, so an extended state observer to estimate disturbance term to improve the controller performance. Also, due to the nonlinearity and two input-two output dynamics of these mechanisms, the use of combined nonlinear multivariate control methods to control the angle in these mechanisms