On the robustness of disturbance observer

Emre Sariyildiz, Kouhei Ohnishi

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

3 Citations (Scopus)

Abstract

Disturbance observer (DOB) is one of the most popular robust control tools due to its simplicity and efficiency. The robustness of a DOB based control system changes significantly by the dynamic characteristics of the DOB's low-pass-filter (LPF) and nominal plant. The bandwidth of the LPF of a DOB is desired to set as high as possible to estimate/suppress disturbances in a wide frequency range; however, the practical and robustness constraints limit the bandwidth of the LPF of a DOB. This paper clarifies the robustness constraints of the DOB's bandwidth by using two different robustness analysis methods, i.e., real parametric uncertainty and unstructured uncertainty based analysis methods. It is shown that the bandwidth of a DOB has a lower bound to obtain robust stability, and the stability margin improves as the bandwidth of the DOB is increased when the plant includes real parametric uncertainties and the order of the DOB is one. The robustness analysis is extended into non-minimum phase plants by using unstructured uncertainty based analysis methods. It is shown that the bandwidth of a DOB has upper and lower bounds to obtain a good robustness if the plant has non-minimum phase zero(s) and pole(s), respectively. Besides that the order of a DOB has a design trade-off between the robustness and performance: if a higher order DOB (HODOB) is used, then the bandwidth constraints of a DOB become more severe, yet the performance is improved. As a result, new analysis and design methods are proposed for the DOB based robust control systems. The validity of the proposals are verified by simulation results.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages31-36
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

Fingerprint

Disturbance Observer
Robustness
Bandwidth
Low pass filters
Robust control
Low-pass Filter
Non-minimum Phase
Robustness Analysis
Parametric Uncertainty
Control systems
Poles and zeros
Robust Control
Robustness (control systems)
Control System
Stability Margin
Uncertainty
Robust Stability
Dynamic Characteristics
Design Method
Categorical or nominal

Keywords

  • Disturbance Observer
  • Parametric Uncertainties
  • Robust Control Systems
  • Unstructured Uncertainties

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Sariyildiz, E., & Ohnishi, K. (2014). On the robustness of disturbance observer. In International Workshop on Advanced Motion Control, AMC (pp. 31-36). [6823253] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823253

On the robustness of disturbance observer. / Sariyildiz, Emre; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. p. 31-36 6823253.

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

Sariyildiz, E & Ohnishi, K 2014, On the robustness of disturbance observer. in International Workshop on Advanced Motion Control, AMC., 6823253, Institute of Electrical and Electronics Engineers Inc., pp. 31-36, 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014, Yokohama, Japan, 14/3/14. https://doi.org/10.1109/AMC.2014.6823253
Sariyildiz E, Ohnishi K. On the robustness of disturbance observer. In International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc. 2014. p. 31-36. 6823253 https://doi.org/10.1109/AMC.2014.6823253
Sariyildiz, Emre ; Ohnishi, Kouhei. / On the robustness of disturbance observer. International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 31-36
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