The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Disturbance Observer Design for a Non-minimum Phase System That Is Stabilizable via PID Control

PID 제어기로 안정화 가능한 비최소 위상 시스템에 대한 외란 관측기 설계

  • Published : 2008.09.01
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Abstract

Since most disturbance observer (DOB) approaches have been limited to minimum-phase systems (or systems having no zero dynamics), we propose a new DOB structure that can be applied to non-minimum phase systems. The new structure features an additional system, which is called as V-filter, whose role is to yield a minimum phase system when connected with the plant in parallel. In order to design the V-filter systematically we first consider a class of linear systems that can be stabilized via PID controller. By inverting the controller's transfer function, we can simply construct the filter. A convenient way of designing V-filter is presented by using an iterative linear matrix inequality (LMI) algorithm. With an illustrative example the simulation result shows that substantial improvement in the performance has been achieved compared with the control system without the DOB.

Keywords

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