On Relationship between Time-Domain and Frequency-Domain Disturbance Observers and Its Applications

Jinya Su*, Wen Hua Chen, Jun Yang

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

43 Citations (Scopus)

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 languageEnglish
Article number091013
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Volume138
Issue number9
Early online date15 Jun 2016
DOIs
Publication statusPublished - 1 Sep 2016

Keywords

  • ADRC
  • Functional disturbance observer (FDOB)
  • nonminimum phase
  • reduced-order
  • time/frequency-domain design

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