Design of a nonlinear disturbance observer
Xinkai Chen; Komada, S.; Fukuda, T.
Industrial Electronics, IEEE Transactions on
Volume 47, Issue 2, Apr 2000 Page(s):429 - 437
Digital Object Identifier   10.1109/41.836359
Summary:This paper presents a new disturbance observer based on the variable structure system theory for minimum-phase (with respect to the relationship between the disturbance and output) dynamical systems with arbitrary relative degrees. The model uncertainties and the nonlinear parts of the system are merged into the disturbance term and are regarded as a part of the disturbances. The upper and lower bounds of the disturbance are assumed to be known as a priori information. Simulation results are presented to show the robustness and effectiveness of the new disturbance observer. Experimental results show the practicality of the new observer

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