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 Nov 25
Event2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 - Takamastu, Japan
Duration: 2013 Aug 42013 Aug 7

Publication series

Name2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013

Other

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

Keywords

  • Disturbance Observer
  • Position Control Systems
  • Robustness and Stability

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • 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] (2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013). https://doi.org/10.1109/ICMA.2013.6617990