The study of Robust Control using a State-Space Disturbance Observer

상태 공간 외란관측기를 이용한 강인 제어기법 연구

In this paper, we propose a robust control technique against parameter uncertainties as well as external disturbances. It is robust control scheme using discrete-time state space disturbance observer. It does not require disturbance modeling, plant inverse modeling and/or Q filter. In frequency domain, its performance is evaluated in terms of sensitivity and complementary sensitivity as well as gain and phase margin. Finally we discuss design criterion of state space disturbance observer considering its performance in frequency domain.