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http://dx.doi.org/10.5302/J.ICROS.2002.8.8.655

Design of Disturbance Observer Considering Robustness and Control Performance (1) : Analysis on Second Order System  

Park, Youngjin (Dept. of Mechanical Engineering, Pohang University of Science and Technology)
Yang, Gwang-Jin (Dept.of Mechanical Engineering, Korea Air Force Academy)
Chunng, Wan-Kyun (Dept. of Mechanical Engineering, Pohang University of Science and Technology)
Kim, Hong-Rok (Dept. of Electronic computer Engineering, Hanyang University)
Suh, Il-Hong (Dept. of Electronic computer Engineering, Hanyang University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.8, no.8, 2002 , pp. 655-664 More about this Journal
Abstract
The disturbance observer (DOB) has been widely utilized for high precision/speed motion control applications. However, it still lacks the analysis for the robustness and performance brought by using DOB. This paper proposes the robustness measure of DOB and reveals the relationships between the disturbance rejection performance and the order/time constant of a Q filter in DOB. Additionally, we propose six guidelines for the design of Q filter and show their validity through the experiments for DVD systems.
Keywords
disturbance observer: DOB; optical disk drive: ODD; Q filter; robustness; normalized coprime factorization/uncertainties;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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