Publisher : The Korean Society of Mechanical Engineers
DOI : 10.22634/KSME-A.19188.8.131.5231
Title & Authors
A Robust Disturbance Observer for Uncertain Linear Systmes Kim, Jun-Sik; O, Jun-Ho;
When modeling error is large of plant is time-varying, it is hard to obtain good robust performance and robust stability by conventional contorl methods. Here, we need to design a robust controller bearing modeling error. In this paper, based on recently developed Time Delay Control(TDC) and Disturbance Observer the output feedback Robust Disturbance Observer(RDO), which is easily combined with general linear control, is proposed. Proposed RDO is derived from extending the main idea of Disturbance Observer to multi-input multi-output linear system. RDO solves robust stability problem of Disturbance Observer and has the robust performance same as nominal performance. RDO controlled dual stage positioning system shows excellent robust performance.