Design constraints of disturbance observer in the presence of time delay

Emre Sariyildiz, Kouhei Ohnishi

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

14 Citations (Scopus)

Abstract

The design of disturbance observer (DOB) requires a low pass filter (LPF) to satisfy the causality and prevent the inner-loop from algebraic loop. The bandwidth of the LPF is desired to be as high as possible to estimate the disturbances in a wide frequency range. However, it is very-well known that the bandwidth of DOB is limited by noise and robustness. This paper shows that the bandwidth limitation of DOB becomes more severe if the plant includes time delay. Furthermore, a new design constraint on the parameters of the LPF of DOB is proposed to obtain predefined performance and robustness criteria. A second order plant model that includes time delay is analyzed and simulation results are given to show the validity of the proposed method.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics, ICM 2013
Pages69-74
Number of pages6
DOIs
Publication statusPublished - 2013 Jul 1
Event2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
Duration: 2013 Feb 272013 Mar 1

Publication series

Name2013 IEEE International Conference on Mechatronics, ICM 2013

Other

Other2013 IEEE International Conference on Mechatronics, ICM 2013
CountryItaly
CityVicenza
Period13/2/2713/3/1

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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    Sariyildiz, E., & Ohnishi, K. (2013). Design constraints of disturbance observer in the presence of time delay. In 2013 IEEE International Conference on Mechatronics, ICM 2013 (pp. 69-74). [6518513] (2013 IEEE International Conference on Mechatronics, ICM 2013). https://doi.org/10.1109/ICMECH.2013.6518513