Fig. 1. Block diagram of system control structure

Fig. 2. Block diagram of system mathematical model

Fig. 3. Block diagram of mathematical model based on double speed loop observer

Fig. 4. Comparison of signas and spectra of various sensors

Fig. 5. Comparison charts of step response curves

Fig. 6. Comparison of sinusoidal response curves

Fig. 7. Anti-disturbance abilities under different experiment conditions