Robust control system design with a proportional integral observer

Beale, S.; Shafai, B.

doi:10.1080/00207178908953350

Cited by 134 publications

(35 citation statements)

References 14 publications

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“…The basic idea of the estimator is to combine the variable structure estimator (Walcott and Zak 1987) and integral observer (Beale and Shafai 1989;Shafai and carrol 1985), and to put them into a multi-rate state estimator framework (Hara and Tomizuka 1998). The observer in Walcott and Zak (1987) provides active robustness against parameter uncertainty, which also reduces the spill-over problem caused by unmodeled dynamics because there is no unmodeled dynamics in the estimator loop, while the multi-rate estimator technique smoothes the inter-sample estimation.…”

Section: Introductionmentioning

confidence: 99%

A pivot nonlinearity compensation by use of variable structure estimator for hard disk drives

Ohno

Horowitz

2005

Microsyst Technol

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This paper discusses robust seeking control of hard disk drives by the use of a variable structure multirate estimator (VSME). Compensation of pivot nonlinearity is one concern in the design of the seeking control, systems. Pivot nonlinearity is subject to uncertainties, and is difficult to deal with by a linear controller. The VSME estimates a class of uncertain disturbances and nonlinearities and yields compensation current through the linear feedback gain, which reduces the residual vibration and error during settling. Several experiments were carried out on several drives including a 3.5 in. 7,200 rpm drive. These experiments confirmed that the off-track probability after settling, which is defined by the number of seek failures over all trials, is much reduced to less than 1% when the drive is operated under a special temperature condition that increases pivot nonlinearity while the corresponding performance of a conventional linear controller is 12%. The seek failure is defined as the case when the position cannot be maintained within ±2.5% of a track pitch for a certain duration after track seeking mode.

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Section: Introductionmentioning

confidence: 99%

A pivot nonlinearity compensation by use of variable structure estimator for hard disk drives

Ohno

Horowitz

2005

Microsyst Technol

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“…Remark: As an integrator arises naturally in (27) and (38), it is interesting to discuss the connection between the disturbance observer developed here with the classical PI observer [30]. In both of them, the estimate of the external disturbance is given by an integral action.…”

Section: Npc For the Outer Loopmentioning

confidence: 99%

Robust cascaded nonlinear predictive control of a permanent magnet synchronous motor

Errouissi¹,

Ouhrouche²

2009

2009 IEEE International Conference on Industrial Technology

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Abstract-A nonlinear predictive control (NPC) scheme in a cascaded structure for a permanent magnet synchronous motor drive is proposed. Taylor series expansion is used to predict the system response over a finite horizon. As NPC cannot remove completely the steady-state error in the presence of mismatched parameters and external perturbation, a disturbance observer is used to estimate the offset caused by parametric uncertainties and the load torque variation. In addition, input constraints (restrictions on the magnitude) are considered in the synthesis of the disturbance observer, resulting in an equivalent cascaded proportional integral action with an antiwindup compensator. The validity of the proposed controller was tested via simulation and experiment. Excellent results were obtained with respect to the speed trajectory tracking, stability, and disturbance rejection.Index Terms-Antiwindup compensator, cascaded control, disturbance observer, nonlinear predictive control (NPC), permanent magnet synchronous motor (PMSM), robustness.

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“…The use of linear matrix inequalities has made possible to address the design of observers for that class of systems surpassing the drawbacks of previous approaches, where a high gain was needed to compensate for the non linear term, as initially proposed in [3]. Another alternative is the use of proportional/integral observers [1], that is, observers where the corrective action is proportional to the observation error and its integral, leading to a more complex observer dynamics. This approach has been applied for single output continuous time uniformly observed systems [4].…”

Section: Introductionmentioning

confidence: 99%

H∞ Observer Design for a Class of Nonlinear Discrete Systems

Peñarrocha

Sanchis

Albertos

2009

European Journal of Control

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In this paper, the problem of observing the state of a class of discrete nonlinear system is addressed. The design of the observer is dealt with using H∞ performance techniques, taking into account disturbance and noise attenuation. The result is an LMI optimization problem that can be solved by standard optimization techniques. A design strategy is proposed based on the available disturbances information.

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Robust control system design with a proportional integral observer

Cited by 134 publications

References 14 publications

A pivot nonlinearity compensation by use of variable structure estimator for hard disk drives

A pivot nonlinearity compensation by use of variable structure estimator for hard disk drives

Robust cascaded nonlinear predictive control of a permanent magnet synchronous motor

H∞ Observer Design for a Class of Nonlinear Discrete Systems

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