Rejection of limit cycles induced from disturbance observers in motion control

Rong Hwang Horng*, Heng Lung Chou, An-Chen Lee

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

20 Scopus citations


A disturbance observer (DOB) is generally introduced into motion control systems to eliminate the unwanted disturbance and plant uncertainty. Due to the quantization error from the sensors and D/A converter, DOB-based controller might generate limit cycles which severely decreases positioning accuracy as the system reaches steady-state positioning. This paper presents a sufficient condition for removing limit cycles and explores the condition to design controller parameters. In addition, since the parameters based on the condition make the system sluggish, an adaptive mechanism is introduced not only to maintain the system performance but also to eliminate limit cycles. The experimental results validate the analytical results and also illustrate the effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)1770-1780
Number of pages11
JournalIEEE Transactions on Industrial Electronics
Issue number6
StatePublished - 1 Dec 2006


  • Disturbance observer (DOB)
  • Limit cycle
  • Linear-motor-driven motion system

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