Robust tracking of constrained uncertain linear systems using a high-gain disturbance observer

Mun Chae Yoo, Jung Su Kim, Juhoon Back

Research output: Contribution to journalArticlepeer-review

5 Scopus citations

Abstract

This paper proposes a robust tracking control for constrained uncertain linear systems by combining a disturbance observer (DOB) and linear matrix inequality (LMI) based state feedback control. To this end, the state feedback control is designed for the nominal system and then a DOB based feed-forward control is added to reject uncertainties. In doing so, the DOB and state feedback controller are joined in a way that the combined control satisfies the input constraints and closed loop stability is guaranteed. Simulation results are provided to show that the proposed control scheme successfully stabilizes uncertain systems.

Original languageEnglish
Pages (from-to)397-402
Number of pages6
JournalJournal of Institute of Control, Robotics and Systems
Volume22
Issue number6
DOIs
StatePublished - 2016

Keywords

  • Disturbance observer
  • LMI (Linear Matrix Inequality)
  • State feedback control
  • Uncertain system

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