Performance and robustness trade-off in disturbance observer design

Emre Sariyildiz, Kouhei Ohnishi

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

16 Citations (Scopus)

Abstract

In the conventional design of disturbance observer (DOB), a first order low pass filter (LPF) is used to prevent algebraic loop and satisfy causality in the inner-loop. Although a conventional DOB has a good robustness, its performance is limited by the dynamic characteristics of a first order LPF. A DOB that uses a higher order LPF is called as a higher order disturbance observer (HODOB) and can be used to improve performance of a system. However, improving performance may cause robustness problems. Therefore, there is a trade-off between robustness and performance of a DOB based robust control system, and it is directly related to order of the LPF of DOB. This paper analyzes robustness and performance of robust control systems based on DOB. The relation between performance and robustness is derived analytically, and a new design tool, which improves robustness and performance, is proposed for HODOB. A general second order plant model is analyzed, and simulation results are given to show the validity of the proposed method.

Original languageEnglish
Title of host publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Pages3681-3686
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: 2013 Nov 102013 Nov 14

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
CountryAustria
CityVienna
Period13/11/1013/11/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Sariyildiz, E., & Ohnishi, K. (2013). Performance and robustness trade-off in disturbance observer design. In Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society (pp. 3681-3686). [6699721] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2013.6699721