Design of Gain-scheduled Disturbance Observer -Application to Vertical-Type One-Link Arm

In general, the actual responses of control systems do not coincide with their nominal ones corresponding to their simulation results due to modeling errors and/or disturbances. For LTI (linear time invariant) systems, a disturbance observer has been proposed to overcome modeling errors and/or disturbances. A disturbance observer estimates disturbances and the effect of modeling error from available signals such as a plant input and a plant output as an input disturbance, and compensates these effects by feedback of the estimated disturbance. However, a traditional disturbance observer can not be applied to LPV (linear parameter varying) systems which vary their dynamics according to their operating point. In this paper, we propose the design method of a gain-scheduled disturbance observer for LPV systems and verify its effectiveness by experiments.