Both the open-loop as well as the closed-loop DOB can change the DC gain of the controlled system by a small amount, which should not be the case. In a repeating block wave reference torque, it reduces the DC gain by roughly 0.25% in one example case, comparably for both controllers. As an example see the dev_bug_75 branch. The joint model does not include nonlinear dynamics.
Both the open-loop as well as the closed-loop DOB can change the DC gain of the controlled system by a small amount, which should not be the case. In a repeating block wave reference torque, it reduces the DC gain by roughly 0.25% in one example case, comparably for both controllers. As an example see the
dev_bug_75branch. The joint model does not include nonlinear dynamics.