The survey is devoted to an exposition of the history of development and the current state of theoretical methods for constructing disturbance observers, whose appearance in control theory and practice dates back to the middle of the 1960s and is associated with the expansion of algebraic methods in controller synthesis, the emergence of computer-based synthesis procedures, the need to solve more and more complex problems, and the desire to optimize the control process. The survey describes observers of harmonic disturbances, outlines the internal model principle, considers observers of bounded disturbances, and describes methods for estimating disturbances using auxiliary filters in the form of transfer functions and state observers.

该调查致力于阐述发展历史和构建扰动观测器的理论方法的现状，其在控制理论和实践中的出现可以追溯到1960年代中期，并且与控制者中代数方法的扩展有关。综合，基于计算机的综合程序的出现，需要解决越来越复杂的问题，以及对控制过程进行优化的愿望。该调查描述了谐波干扰的观测者，概述了内部模型原理，考虑了有界干扰的观测者，并描述了使用传递函数形式的辅助滤波器和状态观测器估算干扰的方法。