A DC motor is one of the most useful types of electrical motors and can be found in a variety of applications. However, it is well-known that there may exist a disturbance torque that acts on the motor shaft. Knowledge of that disturbance torque can be used to maintain good performance and stability. Unfortunately, direct measurement can be difficult and high in cost. In this case, an observer-based estimator can be designed to generate an estimate of the disturbance torque without the use of expensive sensors. A good estimator not only produces an appropriate estimate but also ensures that the estimate is insensitive to other factors such as noise or uncertainty. The estimator design is conducted in discrete time for direct implementation. All of the estimator designs are tested in a Hardware-in-loop (HIL) test bench under different load disturbance torque conditions and their performances are compared.;Key words: Discrete-Time, State Observer, Disturbance Torque Estimation.
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