Design of a nonlinear disturbance observer
Xinkai Chen
Komada, S.
Fukuda, T.
Dept. of Inf. Sci., Tokyo Denki Univ., Saitama ;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Apr 2000
Volume: 47,
Issue: 2
On page(s): 429-437
ISSN: 0278-0046
References Cited: 18
CODEN: ITIED6
INSPEC Accession Number: 6573382
Digital Object Identifier: 10.1109/41.836359
Current Version Published: 2002-08-06
Abstract
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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