A Study on the Robust Stability for Disturbance Observers.

概要

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Previous results concerned with a disturbance observer have disadvantages as follows: (i) Discussion about robust stabilization for the closed loop is not enough. (ii) Operation for structured time-varying uncertainties is not correct. First, we show the relation between H∞ control with structured uncertainties and disturbance observer. Then, we show that a design method of a disturbance observer with a quadratically stabilization is same as the problem of quadratic stabilization of systems with parameter uncertainty via output feedback. Next, we consider the robustness for previous and this method of disturbance observers. Finally, with a simulation for an electromagnetic suspension system, we show that the design method has effectiveness.
公益社団法人計測自動制御学会の論文