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On the Observed Robustness of Disturbance-Observers; A Technical Explanation and Simulation Validation

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1 Author(s)
Hannan, M.R. ; NASA Marshall Space Flight Center, Huntsville

This paper examines the ability of a real-time "disturbance-observer" to adapt-to and closely estimate the time-behavior of a disturbance-input w(t) (and of it's state-vector z(t)) even when the actual w(t) time-behavior deviates from the observer's "internal-copy" of the nominal/predicted w(t)-behavior. By means of technical explanations and confirming simulation studies of numerical examples, the disturbance- observer's adaptive ability is explained in terms-of the underlying spline-model used to derive the disturbance state-model and the intrinsic dynamic characteristics of a state-observer.

Published in:

System Theory, 2008. SSST 2008. 40th Southeastern Symposium on

Date of Conference:

16-18 March 2008

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