Model-Free Filter for Servo Drive Applications via Error Dynamics Diagonalization Technique

Sung Hyun You, Sang Su Lee, Sun Lim, Seok Kyoon Kim, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review


This paper presents a novel filtering solution for servo system applications to extract the speed and acceleration information from the imperfect angle measurement. The proposed solution forms a cascade-type structure without using plant information, including its structural and parameter information, with the following contributions: (a) an improved disturbance attenuation capability incorporating the nonlinearly structured filter gain into the extended state observer and (b) a simple performance tuning process that does not involve matrix algebra to determine the desired filtering gain due to the filtering error dynamics diagonalization by the pole-zero cancellation technique. Moreover, the closed-loop filtering dynamics are rigorously analyzed, and various experiments validate the feasibility of the proposed solution.

Original languageEnglish
Pages (from-to)1901-1909
Number of pages9
JournalIEEE Transactions on Circuits and Systems I: Regular Papers
Issue number4
Publication statusPublished - 2024 Apr 1

Bibliographical note

Publisher Copyright:
© 2004-2012 IEEE.


  • cascade-type structure
  • Model-free filtering
  • order reduction
  • servo motor

ASJC Scopus subject areas

  • Hardware and Architecture
  • Electrical and Electronic Engineering


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