A study on higher-order disturbance observer and robust stability

被引：0
|
作者：
Yamada, K [1 ]
Komada, S [1 ]
Ishida, M [1 ]
Hori, T [1 ]
机构：
[1] Mie Univ, Tsu, Mie, Japan
来源：
ELECTRICAL ENGINEERING IN JAPAN | 1999年 / 128卷 / 01期
关键词：
disturbance observer; servo system; robust stability; linearization; disturbance compensation; PID control;
D O I：
10.1002/(SICI)1520-6416(19990715)128:1<37::AID-EEJ5>3.0.CO;2-7
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In earlier papers, it has been reported that a fast and precise servo system, which has low sensitivity to parameter variation and disturbance, can be realized with simple structure by using a high-order disturbance observer. However, no clear and simple design method satisfying specifications for robust stability, the influence of measurement noise, and relative stability (damping characteristics) for large parameter variation has been proposed. In this paper, we clarify the class of robust servo systems realized by adjusting the order of the disturbance observer and the control parameters. We apply this strategy to the design of a second delay system, such as a position servo system, and realize a high-performance robust servo system using a high-order disturbance observer. (C) 1999 Scripta Technica.
引用
收藏
页码：37 / 44
页数：8
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