On Relationship Between Time-Domain and Frequency-Domain Disturbance Observers and Its Applications

By Jinya Su, Wen‐Hua Chen, Jun Yang. 2016

71 citations recorded by the source corpus.

This paper provides a generic analysis of the relationship between time/frequency-domain DOB design methodology. It is discovered that the traditional frequency-domain DOBs using a low pass filter with unity gain can only handle disturbances satisfying matching condition, while the traditional time-domain DOBs always generate an observer with a high order. A Functional Disturbance OBserver (FDOB) is proposed to improve the existing results together with its design guideline, frequency analysis and existence condition. Compared with the existing frequency-domain DOBs, the proposed FDOB can handle more classes of disturbances, while compared with the existing time-domain DOBs the proposed FDOB can generate an observer with a lower order. Numerical examples are presented to illustrate the main findings of this paper including a rotary mechanical system of nonminimum phase.

Subfields: Control and Systems Engineering, Mechanical Engineering

View Paper: https://www.semanticscholar.org/paper/2601668f6cd4c87d691205890ecb3fd4e4c211b5