Disturbance Observer
Systems and Control
2021-01-11 v1 Systems and Control
Abstract
Disturbance observer is an inner-loop output-feedback controller whose role is to reject external disturbances and to make the outer-loop baseline controller robust against plant's uncertainties. Therefore, the closed-loop system with the DOB approximates the nominal closed-loop by the baseline controller and the nominal plant model with no disturbances. This article presents how the disturbance observer works under what conditions, and how one can design a disturbance observer to guarantee robust stability and to recover the nominal performance not only in the steady-state but also for the transient response under large uncertainty and disturbance.
Cite
@article{arxiv.2101.02859,
title = {Disturbance Observer},
author = {Hyungbo Shim},
journal= {arXiv preprint arXiv:2101.02859},
year = {2021}
}