Practical stabilization of an uncertain linear systems using state feedback based disturbance observer

This paper presents a robust control design method for uncertain linear systems in normal form using state feedback based disturbance observer where the uncertain linear system has not only parameter uncertainties but also bounded external disturbances. For this uncertain system, it is presented how to design a disturbance observer when the state variable is measurable. Then, it is shown that the designed disturbance observer (DOB) based control can practically stabilizes the uncertain system. The simulation results show that the proposed DOB based control successfully stabilizes an uncertain system.