Adaptive Periodic-Disturbance Observer for Periodic-Disturbance Suppression

Hisayoshi Muramatsu, Seiichiro Katsura

Research output: Contribution to journalArticle

14 Citations (Scopus)


Precise repetitive works have been widely conducted by automatic machines in industry. Then, periodic disturbances induced by the repetitive works must be compensated to achieve precise motions. In this paper, a periodic disturbance observer (PDOB) based on a disturbance observer (DOB) structure is proposed. The PDOB compensates a periodic disturbance including a fundamental wave and harmonics rather than a sinusoidal wave by using a time-delay element. Furthermore, an adaptive PDOB is also proposed to enable to compensate also frequency-varying periodic disturbances. An adaptive notch filter (ANF) is used in the adaptive PDOB, which estimates a fundamental frequency of the periodic disturbance. In experiments using a multi-axis manipulator, practical performances were verified. The proposals provide a new framework based on the DOB structure to design controllers using a time-delay element.

Original languageEnglish
JournalIEEE Transactions on Industrial Informatics
Publication statusAccepted/In press - 2018 Feb 8



  • adaptive control
  • adaptive notch filter
  • Delay effects
  • Delays
  • disturbance observer
  • Disturbance observers
  • Harmonic analysis
  • Informatics
  • Periodic disturbance
  • Sensitivity
  • time delay element

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Computer Science Applications
  • Electrical and Electronic Engineering

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