Disturbance observer based robust tracking control of high precision flight simulator

Design method of a robust digital tracking controller based on disturbance observer for high precision flight simulator was presented. The controller consists of feedforward controller, feedback controller and friction compensation term. Feedforward controller composes of a zero phase error tracking controller and a zero phase low pass filter. Feedback controller consists of a proportional derivative controller and a disturbance observer. Columb friction model based fixed compensation was used in friction compensation term. Experimental results demonstrated that the proposed controller can effectively improve tracking performance, with strong robustness against parameter uncertainty and extern disturbance.