Design constraints of disturbance observer in the presence of time delay

Emre Sariyildiz, Kouhei Ohnishi

研究成果: Conference contribution

15 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2013 IEEE International Conference on Mechatronics, ICM 2013
ページ69-74
ページ数6
DOI
出版ステータスPublished - 2013
外部発表はい
イベント2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
継続期間: 2013 2月 272013 3月 1

出版物シリーズ

名前2013 IEEE International Conference on Mechatronics, ICM 2013

Other

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

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学

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