제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제21권9호
  • /
  • Pages.811-817
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  • 2015
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지
DOI QR코드

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필터 삽입에 의한 외란 관측기의 성능 향상과 하드디스크 장치에의 적용

Enhanced Performance of Disturbance Observer by Embedding a Filter and Its Application to Hard Disk Drive

  • 하종수 (서울대학교 전기.정보공학부) ;
  • 박경훈 (서울대학교 전기.정보공학부) ;
  • 심형보 (서울대학교 전기.정보공학부)
  • Ha, Jongsoo (ASRI, Department of Electrical and Computer Engineering, Seoul National University) ;
  • Park, Gyunghoon (ASRI, Department of Electrical and Computer Engineering, Seoul National University) ;
  • Shim, Hyungbo (ASRI, Department of Electrical and Computer Engineering, Seoul National University)
  • 투고 : 2015.03.20
  • 심사 : 2015.07.24
  • 발행 : 2015.09.01
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초록

In this paper, we present a new control structure which is obtained by adding an appropriately designed filter to a conventional disturbance observer. The proposed controlled system preserves advantages of a system with the conventional disturbance observer; disturbance rejection and nominal performance recovery. In particular, by embedding the filter, the disturbance rejection performance is enhanced compared with that of the classical disturbance observer-based controlled system. Moreover, we suggest a condition for the robust internal stability of the considered system in this paper. Simulation results regarding an effect of relatively high-frequency disturbance on hard disk drive are also presented.

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참고문헌

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