This paper describes how to construct the digital control system including the observer which estimates disturbance torque and volocity.
First, the digital observer is designed based on the digital model which includes 0 order hold. Next, as a pre-process to construct the digital control system, bilinear transformation model and feedfoward model are prepared. And, the total digital control system is constructed. By the pole allocation, the stability of this system can be evaluated.
Next, we propose new methods with respect to the order of calculation of the digital controller and the initialization of the observer. Finally, the experimental results are shown.