A simple nonlinear velocity estimator for high-performance motion control

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

81 Scopus Citations
View graph of relations



Original languageEnglish
Pages (from-to)1161-1169
Journal / PublicationIEEE Transactions on Industrial Electronics
Issue number4
Publication statusPublished - Aug 2005


Based on the fact that numerical integration can provide more stable and accurate results than numerical differentiation in the presence of noise, a constructive nonlinear velocity estimator (NVE) with simple computation is developed for high-quality instantaneous velocity estimation, based on the position measurement only. The attraction of the new velocity estimator is that it is very effective as well in the low-velocity ranges, it has high robustness against noise and design parameters, and it is easy to implement. Furthermore, the developed approach is model free. Both simulation and experimental tests have been run to verify its effectiveness and efficiency. The proposed new simple NVE has built a solid base for high-performance control of servo systems. © 2005 IEEE.

Research Area(s)

  • Extended state observer, Low-velocity range, Motion control, Velocity estimator

Citation Format(s)