Design of Disturbance Observer-Based Robust Controller for a Time-Delay System

시간 지연을 갖는 시스템에 대한 외란 관측기 기반 강인 제어기 설계

This paper considers design of a robust controller that alleviates disturbance effects and compensates performance degradation of plants with time-delay. Disturbance observer(DOB) approach as a tool of robust control has been widely employed in industry. However, since the time-delay makes the plant non-minimum phase, classical DOB cannot be applied directly to the time-delay system. By using a new DOB structure for non-minimum phase systems together with the Smith Predictor, we propose a new control algorithm for reducing the effects of disturbance and time-delay of the system.