Abstract:
Disturbance observer (DOB) based controller design is one of the most popular methods in the field of motion control. In this paper, a generalized disturbance compensatio...Show MoreMetadata
Abstract:
Disturbance observer (DOB) based controller design is one of the most popular methods in the field of motion control. In this paper, a generalized disturbance compensation framework, named robust internal-loop compensator (RIC), is introduced and an advanced design method of DOB is proposed based on the RIC. The mixed sensitivity optimization problem, which is the main issue of DOB design, is also solved through the parameterization of DOB in the RIC framework. Different from conventional methods, the Q-filter is separated in the mixed sensitivity optimization problem and the systematic design law for the DOB is proposed. This guarantees the robustness and optimality of the DOB and enables the design for unstable plants.
Date of Conference: 08-10 May 2002
Date Added to IEEE Xplore: 07 November 2002
Print ISBN:0-7803-7298-0
Print ISSN: 0743-1619