Research of Compound Control for DC Motor System Based on Global Sliding Mode Disturbance Observer

Table 1

The control parameters of control scheme in simulation.

PD controller		Feedforward controller		GSMDO
𝐾1	𝐾2	𝐾3	𝐾4	𝑘	𝑞	𝜙
14.1421	0.6479	0.005	1.60	5.0	2.0	0.2