Speed tracking control of a permanent-magnet synchronous motor with state and load torque observer韩京清教授发表在IEEE的自抗扰动控制论文，权威资料-Speed ​ ​ tracking control of a permanent-magnet synchronous motor with state and load torque observer Professor Ha

先进观测器设计，用于干扰估计。在控制系统中经常用到。-Disturbance observer design.

Abstract—This paper presents a new 12-step sensorless drive for brushless dcmotor based on back-electromotive force (back-EMF) differences, which are estimated the disturbance observer (DOB) structure. Availability of rotor position information