Design of a nonlinear disturbance observer

Author

Chen, Xinkai ; Komada, Satoshi ; Fukuda, Toshio

Author_Institution

Dept. of Inf. Sci., Tokyo Denki Univ., Saitama, Japan

Volume

47

Issue

2

fYear

2000

fDate

4/1/2000 12:00:00 AM

Firstpage

429

Lastpage

437

Abstract

This paper presents a new disturbance observer based on the variable structure system theory for minimum-phase (with respect to the relationship between the disturbance and output) dynamical systems with arbitrary relative degrees. The model uncertainties and the nonlinear parts of the system are merged into the disturbance term and are regarded as a part of the disturbances. The upper and lower bounds of the disturbance are assumed to be known as a priori information. Simulation results are presented to show the robustness and effectiveness of the new disturbance observer. Experimental results show the practicality of the new observer

Keywords

control system analysis; control system synthesis; nonlinear control systems; observers; robust control; uncertain systems; variable structure systems; a priori information; control design; control simulation; disturbance term; effectiveness; minimum-phase dynamical systems; model uncertainties; nonlinear disturbance observer; nonlinear parts; robustness; variable structure system theory; Control systems; Frequency; Motion control; Observers; Robust control; Robustness; Sliding mode control; Systems engineering and theory; Uncertainty; Variable structure systems;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/41.836359

Filename

836359