Energy disturbance observer for estimation and control of reaction energy

Yoshitaka Abe, Seiichiro Katsura

Research output: Contribution to journalArticle


Mechanical and electrical system control conventionally uses the Lagrange motion equation for general mechanical and electrical motions. However, using the Lagrange approach for the control system is difficult to understand physically and intuitively. This paper proposes estimation and control methods for the reaction energy of a mechanical synchronous motor and an electrical LR circuit. The reaction energy is the inflow energy from outside the actuator; it is estimated and controlled by the newly defined energy disturbance observer and reaction energy observer. A generalized Heaviside operator is also introduced to simplify the representation of the energy control system. The effectiveness of the proposed methods was verified by simulation of a mechanical synchronous motor and an electrical LR circuit.

Original languageEnglish
Pages (from-to)335-343
Number of pages9
JournalIEEJ Journal of Industry Applications
Issue number4
Publication statusPublished - 2014



  • Disturbance observer
  • Energy control
  • Force control
  • Human support
  • Motion control
  • Reaction force estimation observer

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Automotive Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

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