Extend Disturbance Observer of Backlash-Based Robust Sliding-Mode Control

Table 1

Parameters of driving encoder and driven encoder.

Description	Value
	Driving encoder	Driven encoder
Resolution ratio
Frequency range	875 kHz	1 MHz
Data output mode	EQEP	SSI
Supply voltage	4.5∼5.5 V	4.75∼5.25 V
Maximum operational speed	2000 rpm	3500 rpm
Operating temperature range	−40∼100°C	−55∼125°C