速度误差

• The load of the dc motor has a great influence on the tracking effect of speed control system , so a kind of load disturbance observer is constructed to compensate the load disturbance , and a new variable structure controller is designed by employing lyapunov speed error function
  针对实际直流电机负载对速度控制系统跟踪效果有较大影响的情况，提出了一种重构轧制负载扰动的观测器，进而对负载扰动进行前馈补偿控制，设计了一种新的利用lyapunov速度误差函数构造的变结构鲁棒控制器。