The Parameterization of all Disturbance Observers for Plants with State Disturbance

Abstract:

In this paper, we examine the parameterization of all disturbance observers for plants with any state disturbance. The disturbance observers have been used to estimate the disturbance in the plant. Several papers on design methods of disturbance observers have been published. Recently, the parameterizations of all disturbance observers for plants with any output disturbance and all disturbance observers for plants with any input disturbance were clarified. However, no paper examines the parameterization of all disturbance observers for plants with any state disturbance. In this paper, we propose parameterizations of all disturbance observers and all linear functional disturbance observers for plants with any state disturbance.

• Periodical: Applied Mechanics and Materials (Volume 36)
• Pages: 263-272
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.36.263
• Online since: October 2010
• Authors: Kou Yamada, Iwanori Murakami, Yoshinori Ando, Takaaki Hagiwara, Yoichi Imai, Da Zhi Gong, Satoshi Aoyama
• Keywords: Disturbance, Disturbance Observer, Parameterization, State Disturbance

References

[1] K. Ohishi, K. Ohnishi and K. Miyachi: Torque-speed regulation of DC motor based on load torque estimation, Proc. IEEJ IPEC-TOKYO, Vol. 2 (1983), pp.1209-1216.

[2] S. Komada and K. Ohnishi: Force feedback control of robot manipulator by the acceleration tracing orientation method, IEEE Transactions on Industrial Electronics, Vol. 37, No. 1 (1990), pp.6-12.

DOI: 10.1109/41.45837

[3] T. Umeno and Y. Hori: Robust speed control of DC servomotors using modern two degrees-of-freedom controller design, IEEE Transactions on Industrial Electronics, Vol. 38, No. 5 (1991), pp.363-368.

DOI: 10.1109/41.97556

[4] M. Tomizuka: On the design of digital tracking controllers, Transactions of the ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 115 (1993), pp.412-418.

DOI: 10.1115/1.2899081

[5] K. Ohnishi, M. Shibata and T. Murakami: Motion control for advanced mechatronics, IEEE/ASME Transaction on Mechatronics, Vol. 1, No. 1(1996), pp.56-67.

DOI: 10.1109/3516.491410

[6] H. S. Lee and M. Tomizuka; Robust motion controller design for high-accuracy positioning systems, IEEE Transactions on Industrial Electronics, Vol. 43, No. 1 (1996), pp.48-55.

DOI: 10.1109/41.481407

[7] T. Mita, M. Hirata, K. Murata and H. Zhang: control versus disturbance-observer-based control, IEEE Transactions on Industrial Electronics, Vol. 45, No. 3 (1998), pp.488-495.

DOI: 10.1109/41.679007

[8] H. Kobayashi, S. Katsura and K. Ohnishi: An analysis of parameter variations of disturbance observer for motion control, IEEE Transactions on Industrial Electronics, Vol. 54 (2007), No. 6 pp.3413-3421.

DOI: 10.1109/tie.2007.905948

[9] G. Zames: Feedback and optimal sensitivity: model reference transformations, multiplicative seminorms and approximate inverse, IEEE Transactions on Automatic Control, Vol. 26 (1981), pp.301-320.

DOI: 10.1109/tac.1981.1102603

[10] D.C. Youla, H. Jabr, J.J. Bongiorno: Modern Wiener-Hopf design of optimal controllers. Part I, IEEE Transactions on Automatic Control, Vol. 21 (1976), pp.3-13.

DOI: 10.1109/tac.1976.1101139

[11] C.A. Desoer, R.W. Liu, J. Murray, R. Saeks: Feedback system design: The fractional representation approach to analysis and synthesis, IEEE Transactions on Automatic Control, Vol. 25 (1980), pp.399-412.

DOI: 10.1109/tac.1980.1102374

[12] M. Vidyasagar: Control System Synthesis-A factorization approach- (MIT Press, 1985).

[13] M. Morari, E. Zafiriou: Robust Process Control (Prentice-Hall, 1989).

[14] J.J. Glaria, G.C. Goodwin: A parameterization for the class of all stabilizing controllers for linear minimum phase systems, IEEE Transactions on Automatic Control, Vol. 39 (1994), pp.433-434.

DOI: 10.1109/9.272352

[15] K. Yamada, I. Murakami, Y. Ando, T. Hagiwara, Y. Imai and M. Kobayashi: The parametrization of all disturbance observers, ICIC Express Letters, Vol. 2 (2008), pp.421-426.

DOI: 10.1109/iciea.2009.5138167

[16] K. Yamada, I. Murakami, Y. Ando, T. Hagiwara, Y. Imai, D.Z. Gong and M. Kobayashi: The parametrization of all disturbance observers for plants with input disturbance, The 4th IEEE Conference on Industrial Electronics and Applications, (2009).

DOI: 10.1109/iciea.2009.5138167

[17] C. N. Nett, C. A. Jacobson and M. J. Balas: A connection between state-space and doubly coprime fractional representation, IEEE Transactions on Automatic Control, Vol. 29 (1984), pp.831-832.

DOI: 10.1109/tac.1984.1103674