TY - JOUR
T1 - Yet another tutorial of disturbance observer
T2 - robust stabilization and recovery of nominal performance
AU - Shim, Hyungbo
AU - Park, Gyunghoon
AU - Joo, Youngjun
AU - Back, Juhoon
AU - Jo, Nam Hoon
N1 - Publisher Copyright:
© 2016, South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.
PY - 2016/8/1
Y1 - 2016/8/1
N2 - This paper presents a tutorial-style review on the recent results about the disturbance observer (DOB) in view of robust stabilization and recovery of the nominal performance. The analysis is based on the case when the bandwidth of Q-filter is large, and it is explained in a pedagogical manner that, even in the presence of plant uncertainties and disturbances, the behavior of real uncertain plant can be made almost similar to that of disturbance-free nominal system both in the transient and in the steady-state. The conventional DOB is interpreted in a new perspective, and its restrictions and extensions are discussed.
AB - This paper presents a tutorial-style review on the recent results about the disturbance observer (DOB) in view of robust stabilization and recovery of the nominal performance. The analysis is based on the case when the bandwidth of Q-filter is large, and it is explained in a pedagogical manner that, even in the presence of plant uncertainties and disturbances, the behavior of real uncertain plant can be made almost similar to that of disturbance-free nominal system both in the transient and in the steady-state. The conventional DOB is interpreted in a new perspective, and its restrictions and extensions are discussed.
KW - Disturbance observer
KW - disturbance rejection
KW - robust stabilization
KW - robust transient response
UR - http://www.scopus.com/inward/record.url?scp=84986889042&partnerID=8YFLogxK
U2 - 10.1007/s11768-016-6006-9
DO - 10.1007/s11768-016-6006-9
M3 - Article
AN - SCOPUS:84986889042
SN - 2095-6983
VL - 14
SP - 237
EP - 249
JO - Control Theory and Technology
JF - Control Theory and Technology
IS - 3
ER -