A note on disturbance observer with unknown relative degree of the plant

N. Jo, Youngjun Joo, H. Shim, Y. Son
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引用次数: 3

Abstract

The disturbance observer (DOB)-based controller has been widely applied to real applications since it is able to recover, in spite of plant uncertainties and input disturbances, the performance of the nominal system. In this paper, we study robust stability of the DOB control system when the relative degree of the plant P is greater than or equal to that of nominal model Pn. Based on the standing assumption that the bandwidth of the Q-filter is sufficiently large, our study reveals the following: (1) If the relative degree difference is equal to one, then robust stabilization can be achieved by careful selection of the Q-filter and Pn. (2) If the relative degree difference is greater than one, then robust stabilization is not possible no matter how Q-filter and Pn are chosen.
对扰动观测器中未知的相对程度的说明
基于干扰观测器(DOB)的控制器由于能够在不考虑对象不确定性和输入干扰的情况下恢复系统的性能而被广泛应用于实际应用。本文研究了当对象的相对程度P大于等于标称模型的相对程度Pn时,DOB控制系统的鲁棒稳定性。在假设q -滤波器的带宽足够大的前提下,我们的研究表明:(1)如果相对度差等于1,那么通过仔细选择q -滤波器和Pn可以实现鲁棒镇定。(2)如果相对度差大于1,则无论选择何种Q-filter和Pn都无法实现鲁棒镇定。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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