A sensitivity optimization approach to design of a disturbance observer in digital motion control systems

Tesfaye, Addisu; Lee, Ho Seong; Tomizuka, Masayoshi

doi:10.1109/3516.828587

Cited by 112 publications

(31 citation statements)

References 14 publications

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“…Design of filter is a crucial part in disturbance observer. A lot of work has been done to investigate the influence of filter on system performance [9][10]. So, here we just analyze the condition which ( ) Q s has a relative order of one.…”

Section: Design Of Filtermentioning

confidence: 99%

Flight simulator robust control based on disturbance observer

Song

Liu

2013

2013 25th Chinese Control and Decision Conference (CCDC)

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Flight Simulator is a typical high performance servo control system. Parameter perturbation and external disturbances are the major obstacles for performance improvement. Disturbance Observer (DOB) is a simple and effective way to solve these problems. DOB based on velocity loop is proposed in this paper, and the influence of filter order on system performance is also analyzed. Experiments on a single-axis flight simulator show that the control strategy based on DOB can effectively suppress disturbance and significantly improve system performance, moreover, with a simpler algorithm, it's easier to compliment.

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Section: Design Of Filtermentioning

confidence: 99%

Flight simulator robust control based on disturbance observer

Song

Liu

2013

2013 25th Chinese Control and Decision Conference (CCDC)

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“…A successful design of a disturbance observer crucially depends on the design of Q(s). Due to its important role, the design of Q(s) has been extensively studied; see, e.g., references [12,14,15,21]. It turns out that Q(s) should be a low-pass "lter of unity DC-gain.…”

Section: Linear Behavior By Disturbance Observersmentioning

confidence: 99%

Suppression of Effects of Non-Linearities in a Class of Non-Linear Systems by Disturbance Observers

Shahruz¹,

Cloet

Tomizuka

2002

Journal of Sound and Vibration

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“…To avoid a non-proper system inverse, a low-pass Q-filter is cascaded with the system inverse, where the Q-filter is chosen to achieve accurate disturbance estimation and to avoid amplification of measurement noise. Different design considerations and design skills have been proposed in the literature (Choi, Yang, Chung, Kim, & Suh, 2003;Komada, Machii, & Hori, 2000;Shim & Jo, 2009;Tesfaye, Lee, & Tomizuka, 2000;Umeno, Kaneko, & Hori, 1993). Robust control based on DOB has been proved to be very effective especially in motion control applications.…”

Section: Introductionmentioning

confidence: 98%

H_∞ optimal design of robust observer against disturbances

Chen

2014

International Journal of Control

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This paper considers the robust observer design problem for linear dynamic systems subject to the interference of external disturbances. For such systems, the state estimate from the conventional Luenberger is normally biased with respect to the true system state. To remedy this situation, this paper proposes a new structure for robust observers. With this new structure, the robust observer design problem is skillfully transformed into the well-known disturbance rejection control problem. The H ∞ optimal control design technique can then be applied to shape the proposed robust observer in the frequency domain. The proposed robust observer is a joint state and disturbance observer, which simultaneously estimates both the system state and unknown disturbances, and can be applied to non-minimum-phase systems.

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A sensitivity optimization approach to design of a disturbance observer in digital motion control systems

Cited by 112 publications

References 14 publications

Flight simulator robust control based on disturbance observer

Flight simulator robust control based on disturbance observer

Suppression of Effects of Non-Linearities in a Class of Non-Linear Systems by Disturbance Observers

H_∞ optimal design of robust observer against disturbances

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A sensitivity optimization approach to design of a disturbance observer in digital motion control systems

Cited by 112 publications

References 14 publications

Flight simulator robust control based on disturbance observer

Flight simulator robust control based on disturbance observer

Suppression of Effects of Non-Linearities in a Class of Non-Linear Systems by Disturbance Observers

H∞ optimal design of robust observer against disturbances

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Product

Resources

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H_∞ optimal design of robust observer against disturbances