Disturbance Observer-Based Control: Methods and Applications by Shihua Li, Jun Yang, Wen-Hua Chen, Xisong Chen

By Shihua Li, Jun Yang, Wen-Hua Chen, Xisong Chen

As a result of its skills to compensate disturbances and uncertainties, disturbance observer dependent keep an eye on (DOBC) is considered probably the most promising ways for disturbance-attenuation. one of many first books on DOBC, Disturbance Observer established keep an eye on: tools and purposes offers novel concept effects in addition to most sensible practices for purposes in movement and approach keep watch over that experience already benefited a number of organizations.

Supplying authoritative tips within the parts of disturbance estimation and reimbursement for useful engineering structures, the booklet comprises assurance of theoretic equipment and useful functions of disturbance estimation and reimbursement for keep an eye on platforms via a DOBC procedure. It considers purposes in flight regulate platforms, movement regulate platforms, and procedure regulate systems.

- provides an authoritative evaluate of disturbance observer dependent regulate approaches
- studies on contemporary advancements in disturbance estimation techniques
- Considers matched and mismatched disturbance/uncertainty attenuation for DOBC
- Illustrates functions of the tools lined with distinct engineering case studies

Filled with important insights accumulated over a long time of analysis via the authors, this booklet presents time- and stress-saving counsel for a person attracted to the speculation and process study of DOBC. utilizing commonplace engineering examples, the textual content presents readers with an realizing of modern advancements in DOBC in addition to the instruments required to utilize this promising method of disturbance-attenuation

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Sample text

The benefit of this is that there is no change to the baseline control, which may have been widely used and developed for many years, such as gain scheduling feedback control for classical flight control systems, PID feedback control for industrial systems, model predictive feedback control for process systems, etc. 7 dˆ Disturbance Observer y x A basic framework of disturbance observer based control. Saunder January 22, 2014 10:43 K15053˙Book An Overview 15 attenuation abilities. Instead of employing a completely new and different control strategy that demands a new verification and certification process, the verification of DOBC can be developed based on the existing verification process to ensure safety and reliability.

Let y r the desired value that the output is expected to achieve, which is usually called setpoint or object value. Without loss of generality, the setpoint value y r is taken as a constant one in this example for simplicity, that is, y˙r = 0. 1) is equivalently depicted by e˙y = −a e y − u − d + a y r , y = yr − e y . 2) The control object here is to design a control law u in terms of the tracking error and the setpoint, that is, u = u(e y , y r ), such that the real output y achieves its desired setpoint y r , that is, the tracking error e y tends to zero as time goes to infinity.

4 that the output is represented as Y (s ) = G uy (s )Uc (s ) + G d y (s )D(s ). 17) G d y (s ) = G n− (s )[1 − G n+ (s )Q(s )]G p (s ) . 4 Block diagram of the frequency-domain disturbance observer for nonminimum-phase linear system. 19) lim G d y ( j ω) = 0. 19) implies that the system with frequency domain disturbance observer behaves as if it were the nominal plant G n− (s ) in the low frequency domain. 20) that the low-frequency-domain disturbances for such nonminimum phase system have been eliminated from the system by feedforward compensation.

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