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http://dx.doi.org/10.5302/J.ICROS.2016.16.0042

Overview of Disturbance Observation Techniques for Linear and Nonlinear Systems  

Lee, Kooksun (School of Robotics, Kwangwoon University)
Ha, Wonseok (School of Robotics, Kwangwoon University)
Back, Juhoon (School of Robotics, Kwangwoon University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.5, 2016 , pp. 332-338 More about this Journal
Abstract
In industrial applications, there are disturbances and uncertainties that bring unfavorable effects to achieving the desired performance of a closed-loop system. Not surprisingly, many researchers have developed various techniques to attenuate influence of the disturbance. One intuitive idea is to design a disturbance estimator, called a disturbance observer, and cancel the effects by feedback action. This paper is a survey of disturbance observers and related methods. We categorize existing methods by design approach, applied system, and characterization of disturbance. Several disturbance observers are explained by simple examples. The readers could use this paper to help understand the configurations of representative disturbance observer methods.
Keywords
disturbance observer; disturbance attenuation; robust control; nonlinear system;
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