This paper presents a new HPDOb that significantly improves disturbance estimation accuracy and robustness in motion control systems, surpassing the capabilities of conventional DObs. The proposed observer is analysed and synthesised in the discrete-time domain, providing a realistic representation of their dynamic behaviour and enabling enhanced controller design for practical applications. The core contribution of the HPDOb is a novel synthesis method that incorporates higher-order truncation error dynamics into disturbance estimation. Unlike conventional DObs, which are limited to zero-order truncation error, the HPDOb achieves first-order truncation error, yielding markedly improved estimation accuracy and robustness against disturbances in motion control systems. Simulation and experiments verify the stability and performance of HPDOb.

翻译：本文提出了一种新型高性能扰动观测器（HPDOb），显著提升了运动控制系统中扰动估计的精度与鲁棒性，其性能超越了传统扰动观测器。该观测器在离散时域内进行分析与综合，能够真实反映其动态特性，并为实际应用中的控制器设计提供增强支持。HPDOb的核心贡献在于提出了一种新颖的综合方法，该方法将高阶截断误差动力学纳入扰动估计过程。与传统扰动观测器仅限于零阶截断误差不同，HPDOb实现了对一阶截断误差的估计，从而在运动控制系统中显著提高了对扰动的估计精度和鲁棒性。仿真与实验验证了HPDOb的稳定性与性能。