Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 67, Issue 3, Pages 2042-2053Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2019.2903752
Keywords
Robust control; Observers; Robustness; Uncertainty; Tools; Robots; Disturbance observer (DOB); robust control
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Disturbance observer (DOB) has been one of the most widely used robust control tools since it was proposed by Ohnishi in 1983. This paper introduces the origins of DOB and presents a survey of the major results on DOB-based robust control in the last 35 years. Furthermore, it explains DOBs analysis and synthesis techniques for linear and nonlinear systems by using a unified framework. In final section, this paper presents concluding remarks on DOB-based robust control and its engineering applications.
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