In this paper, a fuzzy disturbance observer and a high-gain disturbance observer based on a variable structure controller are applied to deal with imprecise multi-shaft with web materials linkage systems taking into account the variation of the moment of inertia. Specifically, a high-gain disturbance observer and an adaptive fuzzy algorithm are separately applied to estimate system uncertainties and external disturbances. The high-gain disturbance observer is designed with auxiliary variables to avoid the amplification of the measurement disturbance, and the fuzzy disturbance observer has the advantage that it does not depend on model information. The convergence properties of the tracking error are analytically proven using Lyapunov’s theory. The obtained numerical results demonstrate the validity and the adaptive performance of the proposed control law in case the system is exposed to uncertainties and disturbances. Important remarks on the design process and performance benchmarks of the two observers are also demonstrated.

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