Embedding Internal Model In Disturbance Observer With Robust Stability
Keywords
Disturbance observer; Disturbance rejection; Internal model principle; Output regulation; Robust stability
Abstract
The disturbance observer has been widely employed in applications due to its powerful ability for disturbance rejection and robustness under plant uncertainties. However, it rejects the disturbance approximately rather than exactly since it is usually designed without considering structural properties of disturbance. In order to improve the disturbance rejection performance, we propose a design method to embed the internal model of disturbance into the disturbance observer structure. Furthermore, a systematic design procedure is proposed so that one can always design the disturbance observer to guarantee robust stability of the closed-loop system even though uncertain parameters of the plant belong to an arbitrarily large (but bounded) set.
Publication Date
1-1-2016
Publication Title
IEEE Transactions on Automatic Control
Volume
61
Issue
10
Number of Pages
3128-3133
Document Type
Article; Proceedings Paper
Personal Identifier
scopus
DOI Link
https://doi.org/10.1109/TAC.2015.2503559
Copyright Status
Unknown
Socpus ID
84986897928 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/84986897928
STARS Citation
Joo, Youngjun; Park, Gyunghoon; Back, Juhoon; and Shim, Hyungbo, "Embedding Internal Model In Disturbance Observer With Robust Stability" (2016). Scopus Export 2015-2019. 4383.
https://stars.library.ucf.edu/scopus2015/4383