Abstract
This paper provides a generic analysis of the relationship between time-and frequency-domain disturbance observer (DOB) design methodology. It is discovered that the traditional frequency-domain DOBs using a low-pass filter with unity gain can only handle disturbances satisfying matching condition, while the traditional time-domain DOBs always generate an observer with a high-order. A functional disturbance observer (FDOB) is proposed to improve the existing results together with its design guideline, frequency analysis, and existence condition. Compared with the existing frequency-domain DOBs, the proposed FDOB can handle more classes of disturbances, while compared with the existing time-domain DOBs, the proposed FDOB can generate an observer with a lower-order. Numerical examples are presented to illustrate the main findings of this paper including a rotary mechanical system of nonminimum phase.
Original language | English |
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Article number | 091013 |
Journal | Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME |
Volume | 138 |
Issue number | 9 |
Early online date | 15 Jun 2016 |
DOIs | |
Publication status | Published - 1 Sept 2016 |
Bibliographical note
Publisher Copyright:© 2016 by ASME.
Keywords
- ADRC
- Functional disturbance observer (FDOB)
- nonminimum phase
- reduced-order
- time/frequency-domain design