This paper proposes a new estimation algorithm based on the Luenberger observer methodology and multilayer concept. The proposed multi-layer Luenberger observer (MLO) is implemented in the control structure designated for a two-mass system. Two types of aggregation mechanism are evaluated in the paper. The MLO ensures better estimation quality of the mechanical state variables: motor speed, shaft torque, load speed and load torque, as compared to the classical single observer. The more accurate estimated states, the more precise closed-loop control is guaranteed. MLO is designated for the system where initial conditions of the plant are not known or the state variables can change rapidly (load torque in the considered case). The estimation algorithm and control strategy is evaluated through simulation and experimental tests. The obtained results confirm efficiency of the proposed MLO.
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