disturbance-observer 10 disturbance-rejection 5 robust-control 5 control-systems 4 control 3 robotics 3 control-engineering 3 model-error 3 extended-state-observer 2 robust 2 model-error-compensator 2 control-theory 2 mechatronics 2 robustness 2 robust-optimization 1 disturbance 1 mec 1 zpec 1 model 1 error-suppression 1 research-paper 1 impedance-control 1 collision-detection 1 second-order-systems 1 zero-phase-tracking-control 1 feedback-control 1 dob 1 parallel-feedforward-filter 1 non-minimum-phase 1 controls 1 control-system 1 noise-reduction 1 matlab-script 1 matlab-codes 1 matlab-code 1 matlab 1 control-performance 1 nonlinear-dynamics 1 nonlinear-control 1 nonlinear 1 non-linear 1 mechanics 1 sdre-controller 1 riccati-equation 1 nonlinear-systems 1 global-stability 1 adrc 1 trajectory-optimization 1 rigid-body-dynamics 1 riccati-solver 1 optimal-control 1 multiple-shooting 1 model-predictive-control 1 lqr-controller 1 ilqr 1 ilqg 1 extended-kalman-filter 1 cpp 1 automatic-differentiation 1 position-control 1 periodic-signals 1 periodic-disturbances 1 notch-filter 1 motion-control 1 frequency-estimation 1 frequency 1 filters 1 estimate 1 cancellation 1 anf 1 adaptive-filter 1 unknown-system 1 state-estimation 1 prescribed-time-observer 1 peso 1 unknown-systems 1 suboptimal-control 1