Disturbance decoupling control of a mechanical system by reduced order observer based stabilizing controller

Abstract

{ r -" k i , kobayasi}Cnept-. -w r i t .a=. jpAbstrad-In this paper, we propose a reduced order observer-based stabilizing controller by using limiting properties of LQR. The proposed reduced order observer-based stabilizing controller has disturbance decoupling property which is the s a m e as the full order observer-based stabilizing controller, and has same property, i.e., good tracking performance, of the internal model control (IMC) design structure.In order to verify the proposed method, we apply the reduced order observer-based stabilizing controller to a mechanical system, and confirm effectiveness of the proposed properties by comparative experiments. The experimental results show that the proposed method i s effective on disturbance decoupling control for a small cart carrier.

A design method for unknown input observer for non-minimum phase systems

“…It is well known that in order to satisfy the first expression, it is necessary that the number of outputs is greater than or equal to that of inputs. When the first expression is not satisfied, several papers are considered the problem to design unknown input observer [10][11][12][13] . However the methods in 10-13 cannot be applied for the plants that hold the second expression.…”

Disturbance estimation by reduced order observer-based stabilizing controller and its application to teleoperation

“…The control problem in bilateral teleoperation has been received considerable attention in [1], [2], [3]. In this paper we introduce a new control scheme which builds upon the configuration by using the reduced order observer-based stabilizing controller shown in [4]. The reduced order observer-based stabilizing controller has tracking property and disturbance estimation property.…”

“…The reduced order observer-based stabilizing controller has tracking property and disturbance estimation property. After we modify the previous results in [4], we apply the proposed stabilizing controller to position tracking and disturbance estimation for the master-slave teleoperation. By using the proposed disturbance estimation property, we construct the master-slave system without a force sensor.…”