Title

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

Socpus ID

84986897928 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84986897928

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