Robust tracking by reduced-order disturbance observer: Linear case

Juhoon Back; Hyungbo Shim; Nam H. Jo; Jung Su Kim

doi:10.1109/CDC.2011.6161399

Robust tracking by reduced-order disturbance observer: Linear case

Juhoon Back, Hyungbo Shim, Nam H. Jo, Jung Su Kim

Dept. of Electrical and Information Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

The disturbance observer (DOB) is one of the widely-used control methods for robust tracking under plant uncertainties and external disturbances. Typically it is implemented by two (so-called) Q-filters as well as an inverse model for the nominal plant. Observing that these two Q-filters have identical dynamics, we propose a reduced-order implementation of the conventional DOB configuration. Moreover, we analyze this newly proposed configuration and claim that the robust stability condition, which has been found for the conventional configuration, still holds for the reduced-order case, and the robust transient performance can also be maintained as before with a saturation function introduced in the feedback loop.

Original language	English
Title of host publication	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3514-3519
Number of pages	6
ISBN (Print)	9781612848006
DOIs	https://doi.org/10.1109/CDC.2011.6161399
State	Published - 2011
Event	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States Duration: 12 Dec 2011 → 15 Dec 2011

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Country/Territory	United States
City	Orlando, FL
Period	12/12/11 → 15/12/11

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10.1109/CDC.2011.6161399

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Back, J., Shim, H., Jo, N. H., & Kim, J. S. (2011). Robust tracking by reduced-order disturbance observer: Linear case. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 (pp. 3514-3519). Article 6161399 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2011.6161399

@inproceedings{3a82daca0558418aab71e9c154989863,

title = "Robust tracking by reduced-order disturbance observer: Linear case",

abstract = "The disturbance observer (DOB) is one of the widely-used control methods for robust tracking under plant uncertainties and external disturbances. Typically it is implemented by two (so-called) Q-filters as well as an inverse model for the nominal plant. Observing that these two Q-filters have identical dynamics, we propose a reduced-order implementation of the conventional DOB configuration. Moreover, we analyze this newly proposed configuration and claim that the robust stability condition, which has been found for the conventional configuration, still holds for the reduced-order case, and the robust transient performance can also be maintained as before with a saturation function introduced in the feedback loop.",

author = "Juhoon Back and Hyungbo Shim and Jo, \{Nam H.\} and Kim, \{Jung Su\}",

year = "2011",

doi = "10.1109/CDC.2011.6161399",

language = "English",

isbn = "9781612848006",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "3514--3519",

booktitle = "2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011",

note = "2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 ; Conference date: 12-12-2011 Through 15-12-2011",

}

Back, J, Shim, H, Jo, NH & Kim, JS 2011, Robust tracking by reduced-order disturbance observer: Linear case. in 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011., 6161399, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 3514-3519, 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011, Orlando, FL, United States, 12/12/11. https://doi.org/10.1109/CDC.2011.6161399

Robust tracking by reduced-order disturbance observer: Linear case. / Back, Juhoon; Shim, Hyungbo; Jo, Nam H. et al.
2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc., 2011. p. 3514-3519 6161399 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - The disturbance observer (DOB) is one of the widely-used control methods for robust tracking under plant uncertainties and external disturbances. Typically it is implemented by two (so-called) Q-filters as well as an inverse model for the nominal plant. Observing that these two Q-filters have identical dynamics, we propose a reduced-order implementation of the conventional DOB configuration. Moreover, we analyze this newly proposed configuration and claim that the robust stability condition, which has been found for the conventional configuration, still holds for the reduced-order case, and the robust transient performance can also be maintained as before with a saturation function introduced in the feedback loop.

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Back J, Shim H, Jo NH, Kim JS. Robust tracking by reduced-order disturbance observer: Linear case. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc. 2011. p. 3514-3519. 6161399. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2011.6161399

Robust tracking by reduced-order disturbance observer: Linear case

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