NonlinearDisturbanceObserverMatlab

This code is sample code for Nonliear disturbance observer.

Block diagram

Simulation result

Reference Textbook

Disturbance Observer-Based Control: Methods and Applications https://www.amazon.co.jp/Disturbance-Observer-Based-Control-Methods-Applications/dp/1138199982/ref=sr_1_1?ie=UTF8&qid=1541667031&sr=8-1&keywords=disturbance+observer-based+control