Disturbance Observer-Based Control: Methods and Applications by Shihua Li, Jun Yang, Wen-Hua Chen, Xisong Chen

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By Shihua Li, Jun Yang, Wen-Hua Chen, Xisong Chen

Because of its skills to compensate disturbances and uncertainties, disturbance observer established regulate (DOBC) is thought of as probably the most promising ways for disturbance-attenuation. one of many first books on DOBC, Disturbance Observer dependent keep watch over: equipment and purposes offers novel concept effects in addition to most sensible practices for purposes in movement and method keep an eye on that experience already benefited a variety of organizations.

Supplying authoritative assistance within the parts of disturbance estimation and repayment for useful engineering structures, the publication comprises insurance of theoretic tools and sensible functions of disturbance estimation and reimbursement for keep an eye on structures via a DOBC method. It considers purposes in flight regulate platforms, movement keep an eye on structures, and strategy keep watch over systems.

- offers an authoritative assessment of disturbance observer dependent keep watch over approaches
- reviews on fresh advancements in disturbance estimation techniques
- Considers matched and mismatched disturbance/uncertainty attenuation for DOBC
- Illustrates purposes of the tools lined with precise engineering case studies

Filled with invaluable insights collected over a long time of analysis through the authors, this booklet presents time- and stress-saving counsel for someone drawn to the speculation and approach study of DOBC. utilizing standard engineering examples, the textual content presents readers with an knowing of modern advancements in DOBC in addition to the instruments required to utilize this promising method of disturbance-attenuation

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Extra resources for Disturbance Observer-Based Control: Methods and Applications

Example text

13) that e (∞) = 0 or equivalently e y (∞) = e˙y (∞) = 0. This means that the integral control can finally remove the effects caused by constant disturbance from the system. However, the integral control can not remove the effects caused by nonconstant disturbances, such as harmonic ones. , |d˙(t)| < d˙∗ with d˙∗ > 0. 6) yields e (∞) ≤ A −1 b d˙∗ . 15) that integral control can only remove the offset caused by constant disturbance. However, in the presence of nonconstant disturbances, the integral control may result in a steady-state tracking error.

5)(s + 2) G p (s ) = s +3 . , Q(s ) = 1 . 11) In this case, the disturbance estimation accuracy depends on the selection of the filter parameter λ in Q(s ). 20) that the property of disturbance estimation is determined by the frequency characteristics of transfer function 1 − Q(s ). 2. 2, the smaller the filter parameter λ is, the smaller the magnitude of transfer function 1 − Q(s ) is. This implies that the estimation error of disturbance converges in a much smaller area by choosing a relatively smaller parameter λ in filter Q(s ).

The control precision is generally affected by different external disturbances, such as uncertain torque disturbances, variations of load torque, vibrations of horizontal position of rail track, and pivot frictions. Moreover, the control performances of these mechanical systems are also subject to the effects of internal model parameter perturbations 3 Saunder 4 January 22, 2014 10:43 K15053˙Book Disturbance Observer-Based Control: Methods and Applications caused by the changes of operation conditions and external working environments [26, 28, 33, 39].

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