An Application of the Parameterization of all Disturbance Observers for Motor Control Experiment

Abstract:

Disturbance observers have been used to estimate the disturbance in the plant. Recently, parameterizations of all disturbance observers and all linear functional disturbance observers for plants with any output disturbance were clarified. If parameterizations of all disturbance observers and all linear functional disturbance observers for plants with any output disturbance are used, there is a possibility that we can design control systems to attenuate unknown output disturbances effectively. From this viewpoint, a design method for control system to attenuate unknown output disturbances using parameterizations of all disturbance observers and all linear functional disturbance observers was proposed. However, an application of control system to attenuate unknown output disturbances using parameterizations of all disturbance observers and all linear functional disturbance observers for real plants in motion-control field is not examined. In this paper, we show the effectiveness of the control system to attenuate unknown output disturbances using parameterizations of all disturbance observers and all linear functional disturbance observers for the angular velocity and the angle control for motor control experiment.

• Periodical: Applied Mechanics and Materials (Volume 36)
• Pages: 210-219
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.36.210
• Online since: October 2010
• Authors: Iwanori Murakami, Kou Yamada, Takaaki Hagiwara, Da Zhi Gong, Yoshinori Ando, Yoichi Imai, Masahiko Kobayashi
• Keywords: Disturbance Observer, Motor Control Experiment, Parameterization

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