Doctoral School of the Universitat Jaume I Doctoral Programme in Industrial Technologies and Materials Design of disturbance observers based on their implementability in industrial control systems A dissertation submitted by David Tena Tena to obtain the degree of Doctor of Philosophy from the Universitat Jaume I AUTHOR David Tena Tena ADVISOR Dr. Ignacio Pe˜ narrochaAl´os Castell´ o de la Plana, November 2021