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。
So the disturbance observer and adaptive control based on neural network are devoted to solve this problem . the principle of disturbance observer is to take all unknown disturbances like modeling error as systematic disturbance to approach , then use the output to compensate the systematic inversion error 干扰观测器的原理就是采用非线性干扰观测器将外部干扰、非线性系统内部的求逆误差和建模误差等一系列未知误差统一看成系统的干扰进行逼近,在通过系统输出对逆误差进行补偿。
8 . a pulsating torque minimization approach based on disturbance observer is proposed . the new disturbance observer is designed to observe the unknown torque disturbance caused by the torque ripple , the varying of the motor parameters , the changing of load torque and the not ideal performance of the inverter 该系统将负载转矩、转矩纹波以及由电机参数的变化引起的转矩干扰作为系统干扰，用干扰观测器进行观测，以此为基础对转矩脉动进行补偿，实现对转矩脉动的抑制。
