Performance and robustness trade-off in disturbance observer design

Emre Sariyildiz, Kouhei Ohnishi

研究成果: Conference contribution

19 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
ページ3681-3686
ページ数6
DOI
出版ステータスPublished - 2013 12月 1
イベント39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
継続期間: 2013 11月 102013 11月 14

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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