Robust Control of Multi Degree-of-freedom Mehanical Plant with Adaptive Disturbance Compensation

Abstract

This paper describes the control problem of a multi-degree nonlinear mechanical plant with an unknown disturbance. An unknown disturbance is represented as output of a linear autonomous model with unknown constant parameters. To solve the problem of adaptive disturbance compensation, an adaptive observer of external disturbance was applied. In this paper is proposed an algorithm of nonlinear robust control of a Lagrangian plant, synthesized on the integrator bypass method, combined with the evaluation of an adaptive disturbance observer. The simulation of the designed nonlinear robust control with an adaptive disturbance observer was held using MATLAB/Simulink.