中文摘要：

对于非线性系统提出一种新型双环复合控制方法，一是利用干扰观测器实时观测外部扰动，进而引人补偿消除外部扰动，二是引入速度观测器观测出电机的速度作为速度环上的反馈信号，降低了测量带来的高频干扰；其次，证明了干扰观测器和速度观测器能有效提高系统的稳定性；最后，对于一个实际系统进行单独加入干扰观测器、速度观测器和同时加入二者进行实验仿真，结果表明，在控制系统中同时使用二者能有效提高系统的性能。

英文摘要：

A new double-loop complex controller for nonlinear systems was proposed. This controller consists of dis-turbance observer and speed observer. The disturbance observer was used to observe external disturbance in real-time, and a compensation was introduced to eliminate external disturbance. The speed observer was used to observe the speed of motor which was a feedback signal on the speed loop and this reduce the high frequency noise of measurement. It was proved that disturbance observer and speed observer can effectively improve the stability of the system. The experiments of practical sys-tem with a disturbance observer and a speed observer or with both of them were compared in MATLAB. The results show that this new double-loop control system greatly improves the tracing ability of the control system.