Bond graph approach for disturbance rejection with Derivative State Feedback

"This paper presents the application to a real Torsion-Bar system of Disturbance Rejection by Derivative State Feedback using an Unknown Input Observer. Finite and infinite structures of the model are analysed with a structural approach directly on the bond graph model and thus properties of the controlled system as well as the observer are structurally highlighted. The effectiveness of the proposed method is assessed with actual tests on the Torsion-Bar system."