DO-DAT: A MATLAB toolbox for design & analysis of disturbance observer

Hamin Chang, Hyuntae Kim, Gyunghoon Park, Hyungbo Shim

Research output: Contribution to journalArticlepeer-review

4 Scopus citations


Although the disturbance observer (DOB)-based controller has been extensively applied and various theoretical results on the DOB have been presented, the exclusive, user-friendly, and unified tool for the computer-aided design of DOB has not been developed yet. In this paper, the MATLAB toolbox DO-DAT (Disturbance Observer - Design & Analysis Toolbox) is introduced. Particularly, we explain the way of using the toolbox and present the applications of main functions in terms of the stabilization of the system and the time-domain performance analysis.

Original languageEnglish
Pages (from-to)340-345
Number of pages6
Issue number25
StatePublished - 2018


  • Disturbance observer
  • Disturbance rejection
  • Nominal performance recovery
  • Robust performance
  • Robust stability
  • Uncertain polynomials


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