Moreover, the DOB filter design method is also discussed.If without any special treatment, any multi-axis tracking control contouring motion system is in nature an open-loop system in contour loop.

• 为提高系统的跟随性能,本文还对零相差跟随控制算法与干扰观测器结合的控制方案及干扰观测滤波器的设计方法进行了讨论。