Stability and robustness analysis of the position control systems with disturbance observer

Emre Sariyildiz, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

The aim of this paper is to provide a new analysis and design tool for the acceleration based position control systems. Disturbance observer (DOB), which is the key point of the acceleration based motion control systems, guarantees the robustness of a system by nominalizing real plant and suppressing external disturbances. Although the DOB has been widely used, specifically in motion control area, in the last two decades, it has no a systematic design tool, and its design methodology highly depends on the designer's own experiences. The Bode-Integral theorem and root-locus are implemented into the DOB based position control system so as for clarifying its stability and robustness. New design criteria are provided to improve the robustness and stability of the acceleration based position control systems. Furthermore, the acceleration based position control systems are compared with the conventional one, and its superiorities are shown.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Pages633-638
Number of pages6
DOIs
Publication statusPublished - 2013
Event2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 - Takamastu, Japan
Duration: 2013 Aug 42013 Aug 7

Other

Other2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
CountryJapan
CityTakamastu
Period13/8/413/8/7

Fingerprint

Position control
Robustness (control systems)
Control systems
Motion control
Root loci

Keywords

  • Disturbance Observer
  • Position Control Systems
  • Robustness and Stability

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Sariyildiz, E., & Ohnishi, K. (2013). Stability and robustness analysis of the position control systems with disturbance observer. In 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 (pp. 633-638). [6617990] https://doi.org/10.1109/ICMA.2013.6617990

Stability and robustness analysis of the position control systems with disturbance observer. / Sariyildiz, Emre; Ohnishi, Kouhei.

2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013. 2013. p. 633-638 6617990.

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

Sariyildiz, E & Ohnishi, K 2013, Stability and robustness analysis of the position control systems with disturbance observer. in 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013., 6617990, pp. 633-638, 2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013, Takamastu, Japan, 13/8/4. https://doi.org/10.1109/ICMA.2013.6617990
Sariyildiz E, Ohnishi K. Stability and robustness analysis of the position control systems with disturbance observer. In 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013. 2013. p. 633-638. 6617990 https://doi.org/10.1109/ICMA.2013.6617990
Sariyildiz, Emre ; Ohnishi, Kouhei. / Stability and robustness analysis of the position control systems with disturbance observer. 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013. 2013. pp. 633-638
@inproceedings{0511a881b5ea4baa9b551fd27330f076,
title = "Stability and robustness analysis of the position control systems with disturbance observer",
abstract = "The aim of this paper is to provide a new analysis and design tool for the acceleration based position control systems. Disturbance observer (DOB), which is the key point of the acceleration based motion control systems, guarantees the robustness of a system by nominalizing real plant and suppressing external disturbances. Although the DOB has been widely used, specifically in motion control area, in the last two decades, it has no a systematic design tool, and its design methodology highly depends on the designer's own experiences. The Bode-Integral theorem and root-locus are implemented into the DOB based position control system so as for clarifying its stability and robustness. New design criteria are provided to improve the robustness and stability of the acceleration based position control systems. Furthermore, the acceleration based position control systems are compared with the conventional one, and its superiorities are shown.",
keywords = "Disturbance Observer, Position Control Systems, Robustness and Stability",
author = "Emre Sariyildiz and Kouhei Ohnishi",
year = "2013",
doi = "10.1109/ICMA.2013.6617990",
language = "English",
isbn = "9781467355582",
pages = "633--638",
booktitle = "2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013",

}

TY - GEN

T1 - Stability and robustness analysis of the position control systems with disturbance observer

AU - Sariyildiz, Emre

AU - Ohnishi, Kouhei

PY - 2013

Y1 - 2013

N2 - The aim of this paper is to provide a new analysis and design tool for the acceleration based position control systems. Disturbance observer (DOB), which is the key point of the acceleration based motion control systems, guarantees the robustness of a system by nominalizing real plant and suppressing external disturbances. Although the DOB has been widely used, specifically in motion control area, in the last two decades, it has no a systematic design tool, and its design methodology highly depends on the designer's own experiences. The Bode-Integral theorem and root-locus are implemented into the DOB based position control system so as for clarifying its stability and robustness. New design criteria are provided to improve the robustness and stability of the acceleration based position control systems. Furthermore, the acceleration based position control systems are compared with the conventional one, and its superiorities are shown.

AB - The aim of this paper is to provide a new analysis and design tool for the acceleration based position control systems. Disturbance observer (DOB), which is the key point of the acceleration based motion control systems, guarantees the robustness of a system by nominalizing real plant and suppressing external disturbances. Although the DOB has been widely used, specifically in motion control area, in the last two decades, it has no a systematic design tool, and its design methodology highly depends on the designer's own experiences. The Bode-Integral theorem and root-locus are implemented into the DOB based position control system so as for clarifying its stability and robustness. New design criteria are provided to improve the robustness and stability of the acceleration based position control systems. Furthermore, the acceleration based position control systems are compared with the conventional one, and its superiorities are shown.

KW - Disturbance Observer

KW - Position Control Systems

KW - Robustness and Stability

UR - http://www.scopus.com/inward/record.url?scp=84887924097&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84887924097&partnerID=8YFLogxK

U2 - 10.1109/ICMA.2013.6617990

DO - 10.1109/ICMA.2013.6617990

M3 - Conference contribution

SN - 9781467355582

SP - 633

EP - 638

BT - 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013

ER -