This paper compares three different position controllers of electrical drives equipped by binomial $n$ th order filters, which are offering filtering properties important in a quantization noise attenuation. To demonstrate their impact, a non-filtered P-PI control is considered, as a reference. The comparative framework includes a filtered P-PI control, a filtered linear pole assignment PD controllers with a disturbance observer (DO) based integral action and its constrained modification. In terms of a total variation, depending on noise and process properties, all filtered controllers are capable to bring down the undue controller activity at the plant input from 10 to more than 100 times. Furthermore, thanks to the applied disturbance observer, the constrained control derived for a double integrator is shown to fully exploit the closed loop capabilities without any trajectory generation, taking into account the control constraints. Thus, the simplified controller design may focus on other important aspects.

本文比较了二项式装备的三种不同的电力驱动器位置控制器 $ñ$阶滤波器，提供对量化噪声衰减很重要的滤波特性。为了证明其影响，我们将未过滤的P-PI控件作为参考。比较框架包括经过滤波的P-PI控制，具有基于干扰观测器（DO）的积分作用的经过滤波的线性极点分配PD控制器及其受约束的修改。就总变化而言，取决于噪声和过程属性，所有经过过滤的控制器都能够将工厂输入处的不必要的控制器活动降低10倍至100倍以上。此外，由于应用了干扰观测器，因此考虑到控制约束，显示出为双积分器推导的约束控制可以充分利用闭环功能，而不会产生任何轨迹。因此，