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This paper presents a novel nonlinear (reset) disturbance observer fordynamic compensation of bounded nonlinearities like hysteresis in piezoelectricactuators. Proposed Resetting Disturbance Observer (RDOB) utilizes a novelConstant-gain Lead-phase (CgLp) element based on the concept of reset control.The fundamental limitations of linear DOB which results in contradictoryrequirements and in a dependent design between DOB and feedback controller areanalysed. Two different configurations of RDOB which attempt to alleviate theseproblems from different perspectives are presented and an example plant is usedto highlight the improvement. Stability criteria are presented for bothconfigurations. Performance improvement seen with both RDOB configurationscompared to linear DOB is also verified on a practical piezoelectric setup forhysteresis compensation and results analysed.

Resetting Disturbance Observers with application in Compensation of bounded nonlinearities like Hysteresis in Piezo-Actuators