| 摘要: |
| This paper presents a tutorial-style review on the recent results about the disturbance observer (DOB) in view of robust stabilization and recovery of the nominal performance. The analysis is based on the case when the bandwidth of Q-filter is large, and it is explained in a pedagogical manner that, even in the presence of plant uncertainties and disturbances, the behavior of real
uncertain plant can be made almost similar to that of disturbance-free nominal system both in the transient and in the steady-state. The conventional DOB is interpreted in a new perspective, and its restrictions and extensions are discussed. |
| 关键词: Disturbance observer, robust stabilization, robust transient response, disturbance rejection |
| DOI： |
| Received:January 12, 2016Revised:April 18, 2016 |
| 基金项目: |
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| Yet another tutorial of disturbance observer: robust stabilization and recovery of nominal performance |
| H. Shim,G. Park,Y. Joo,J. Back,N. H. Jo |
| (ASRI, Department of Electrical and Computer Engineering, Seoul National University;Department of Electrical Engineering and Computer Science, University of Central Florida;School of Robotics, Kwangwoon University;Department of Electrical Engineering, Soongsil University) |
| Abstract: |
| This paper presents a tutorial-style review on the recent results about the disturbance observer (DOB) in view of robust stabilization and recovery of the nominal performance. The analysis is based on the case when the bandwidth of Q-filter is large, and it is explained in a pedagogical manner that, even in the presence of plant uncertainties and disturbances, the behavior of real
uncertain plant can be made almost similar to that of disturbance-free nominal system both in the transient and in the steady-state. The conventional DOB is interpreted in a new perspective, and its restrictions and extensions are discussed. |
| Key words: Disturbance observer, robust stabilization, robust transient response, disturbance rejection |
