Open AccessReduced‐order implementation of disturbance observers for robust tracking of non‐linear systems
Author(s) -
Back Juhoon,
Shim Hyungbo
Publication year - 2014
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2013.1036
Subject(s) - control theory (sociology) , transfer function , robust control , linear system , control engineering , controller (irrigation) , observer (physics) , computer science , robustness (evolution) , tracking (education) , magnetic levitation , transient (computer programming) , control system , engineering , control (management) , mathematics , magnet , physics , artificial intelligence , pedagogy , mathematical analysis , agronomy , mechanical engineering , biology , psychology , chemistry , operating system , biochemistry , quantum mechanics , electrical engineering , gene
The disturbance‐observer‐based control (DOBC) is a well‐known robust control scheme and recently its non‐linear version has been developed. Observing that two components (so‐called Q‐filters) in the conventional DOBC structure have the same transfer function, the authors propose a reduced‐order DOBC for uncertain non‐linear systems. It is shown that the proposed controller also guarantees the same robust transient response as those developed before. Numerical simulations using a magnetic levitation system are included to illustrate the detailed design procedure and validate the performance of the proposed controller.