The simulation results show this controller has very strong robustness not only to external load disturbance, but also to unpredictable plant parameter variations such as inertia of load 、 resistance of armature and coefficient of torque. 仿真结果证明,该控制器不仅有效地抑制了不确定负荷扰动的影响,同时对系统内部参数如电机转动惯量、电枢电阻、转矩常数等的摄动也具有较强的鲁棒性。