Yet Another Tutorial Of Disturbance Observer: Robust Stabilization And Recovery Of Nominal Performance

Keywords

Disturbance observer; disturbance rejection; robust stabilization; robust transient response

Abstract

This paper presents a tutorial-style review on the recent results about the disturbance observer (DOB) in view of robust stabilization and recovery of the nominal performance. The analysis is based on the case when the bandwidth of Q-filter is large, and it is explained in a pedagogical manner that, even in the presence of plant uncertainties and disturbances, the behavior of real uncertain plant can be made almost similar to that of disturbance-free nominal system both in the transient and in the steady-state. The conventional DOB is interpreted in a new perspective, and its restrictions and extensions are discussed.

Publication Date

8-1-2016

Publication Title

Control Theory and Technology

Volume

14

Issue

3

Number of Pages

237-249

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1007/s11768-016-6006-9

Socpus ID

84986889042 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84986889042

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