Robust Linear Output Regulation Using Extended State Observer

Table 1

Symbols of the plotter system model with the numerical values [15].

Symbol	Description	Value
	Motor magnetic flux
	Motor back electromotive force
	Motor resistance
	Motor inductance
	Disk 1 moment of inertia
	Disk 1 viscous friction
	Disk 1 elastic constant
	Disk 1 radii
	Disk 2 moment of inertia
	Disk 2 viscous friction
	Disk 2 elastic constant
	Disk 2 radii
	Disk 3 (the pen nib) mass