This paper deals with the disturbance observer (DOB) based sliding mode control (SMC) for a DC motor to control motor rotating speed precisely and to ensure strong robustness against disturbance including load torque and parameter variation. The reason of steady state error in speed on conventional SMC without DOB is analyzed in detail. Especially, the suggested DOB is designed to prevent measuring noise and harmonics caused by derivative operation on rotating speed. The control performance of the DOB based SMC is evaluated by the various simulations. The simulation results showed that the DOB based SMC had more robust performance than the SMC system without DOB. Especially, precise speed control was possible even though motor parameter variation and load torque was added to the system.

서 론
재료 및 방법
    DC모터의 상태공간 모델링
    SMC 설계
    외란관측기 설계
결과 및 고찰
결 론
References

• 정태영(부경대학교 실습선) | Tae-Young JEONG (Training Ship, Pukyong National University) Corresponding author