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

Emre Sariyildiz, Kouhei Ohnishi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
ページ633-638
ページ数6
DOI
出版ステータスPublished - 2013 11 25
イベント2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 - Takamastu, Japan
継続期間: 2013 8 42013 8 7

出版物シリーズ

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

Other

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

ASJC Scopus subject areas

  • 人工知能
  • 電子工学および電気工学
  • 機械工学

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