Bandwidth improvement of Disturbance Observer with Low Pass Derivative FIR Filter

Mehdi Hazaz, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Disturbance observer based compensation is a popular technique in motion control to compensate for the difference between an actual plant and its nominal model. Conventional implementation with pseudo derivative performs poorly when the measurement noise is large and the bandwidth has to be decreased. Low pass derivative FIR filters provide a frequency response closer to the ideal response than comparable pseudo derivative filters. This paper proposes a disturbance observer with low pass derivative FIR filter for DC motor with position measurement. The proposal is validated with numerical simulations.

Original languageEnglish
Title of host publicationProceedings - IEEE 16th International Conference on Industrial Informatics, INDIN 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages921-926
Number of pages6
ISBN (Electronic)9781538648292
DOIs
Publication statusPublished - 2018 Sep 24
Event16th IEEE International Conference on Industrial Informatics, INDIN 2018 - Porto, Portugal
Duration: 2018 Jul 182018 Jul 20

Other

Other16th IEEE International Conference on Industrial Informatics, INDIN 2018
CountryPortugal
CityPorto
Period18/7/1818/7/20

Fingerprint

FIR filters
Derivatives
Bandwidth
Position measurement
DC motors
Motion control
Frequency response
Observer
Filter
Computer simulation

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Hardware and Architecture
  • Information Systems and Management
  • Industrial and Manufacturing Engineering

Cite this

Hazaz, M., & Murakami, T. (2018). Bandwidth improvement of Disturbance Observer with Low Pass Derivative FIR Filter. In Proceedings - IEEE 16th International Conference on Industrial Informatics, INDIN 2018 (pp. 921-926). [8471930] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/INDIN.2018.8471930

Bandwidth improvement of Disturbance Observer with Low Pass Derivative FIR Filter. / Hazaz, Mehdi; Murakami, Toshiyuki.

Proceedings - IEEE 16th International Conference on Industrial Informatics, INDIN 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 921-926 8471930.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Hazaz, M & Murakami, T 2018, Bandwidth improvement of Disturbance Observer with Low Pass Derivative FIR Filter. in Proceedings - IEEE 16th International Conference on Industrial Informatics, INDIN 2018., 8471930, Institute of Electrical and Electronics Engineers Inc., pp. 921-926, 16th IEEE International Conference on Industrial Informatics, INDIN 2018, Porto, Portugal, 18/7/18. https://doi.org/10.1109/INDIN.2018.8471930
Hazaz M, Murakami T. Bandwidth improvement of Disturbance Observer with Low Pass Derivative FIR Filter. In Proceedings - IEEE 16th International Conference on Industrial Informatics, INDIN 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 921-926. 8471930 https://doi.org/10.1109/INDIN.2018.8471930
Hazaz, Mehdi ; Murakami, Toshiyuki. / Bandwidth improvement of Disturbance Observer with Low Pass Derivative FIR Filter. Proceedings - IEEE 16th International Conference on Industrial Informatics, INDIN 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 921-926
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