Not step disturbance but disturbance of rigid robot link weight in the form of transfer function which affect the movement and torque of motors. before or after plant transfer function?
Hamed Saeidi
Disturbances are unwanted inputs to the systems that affect the dynamics (i.e. they appear before transfer function or generally are summed with the input).
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Ammar Aljodah
if you are talking about the m in this :
G(s) = 1/(mS^2+cS+k)
then it's part of your transfer function where
m= m0+ m_delta
where m0 is the original weight and m_delta is the disturbance weight.
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