Kyo-Beum Lee, “Disturbance observer that uses the radial basis function networks for low speed control of a servo motor,” IEE Proceedings – Control Theory & Applications, vol. 152, no. 2, pp. 118–124, Mar. 2005. -SCI > Paper

A scheme to estimate the moment of inertia in a servo motor drive system at very low speed is proposed. The typical speed estimation scheme used in most servo systems operated at low speed is highly sensitive to variations in the moment of inertia. An observer that uses a radial basis function network to estimate the motor inertia value is proposed. The effectiveness of this observer is confirmed by both simulations and experiments.