Motor position servo system self-adaptive control method based on interference observer

The invention discloses a motor position servo system self-adaptive control method based on an interference observer. The motor position servo system self-adaptive control method based on an interference observer includes the steps: establishing a mathematical model for a motor position servo system; constructing an interference observer and a self-adaptive controller based on the interference observer; and by means of a Liapunov stability theory, performing stability demonstration on the motor position servo system, and obtaining a global asymptotic stability result of the system by operatinga Barbalat lemma. The motor position servo system self-adaptive control method based on an interference observer is based on an integration series model and the interference observer of the motor position servo system, designs a non-linear control method based on the interference observer, integrates the non-linear control method with self-adaptive control, respectively estimates unmodeled interference and parameter nond