期刊
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
卷 11, 期 1, 页码 12-20出版社
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-011-9214-6
关键词
Disturbance observer (DOB); model uncertainty; nominal model; optimization; robustness
资金
- Ministry of Education, Science and Technology [2012R1A1A1008271]
- National Research Foundation of Korea [2012R1A1A1008271] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
Disturbance observer-based control systems often encounter the stability problem due to modeling uncertainties. In such cases, the disturbance observer (DOB) may have to be re-designed by narrowing the bandwidth of the Q-filter to enhance stability robustness, but this approach to stability enhancement deteriorates the performance of DOB. In order to improve robust stability while maintaining the performance of DOB, this paper proposes a method that manipulates the nominal plant model in the DOB; the parameters of the discretized nominal model are optimized to improve robust stability in the discrete time domain. For the optimization of nominal model, it is assumed that the closed-loop poles of DOB are subjected to multiplicative uncertainties, and the maximum allowable magnitude of uncertainties is utilized as the measure of stability robustness. Then, the proposed method changes the location of closed-loop poles to maximize the robustness margin. This paper provides a case study that includes experimental results.
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