This work addresses noise-robust state and disturbance estimation in DC motor drives for robotic applications. In practical systems, encoder quantization, electromagnetic interference, and time-varying load torque degrade estimation accuracy and limit control performance when conventional fixed-gain observers are used. The work proposes a structured estimation framework based on the co-design of measurement conditioning and model-based disturbance estimation.

Афаша Ф. (науч. рук. Борисов О.И.) Noise-robust estimation in dc motors // Сборник тезисов докладов конгресса молодых ученых. Электронное издание. – СПб: Университет ИТМО, [2026]. URL: https://kmu.itmo.ru/digests/article/16638