The disturbance observer (DOB) has been a popular robust control approach for servo enhancement in single-input single-output systems. This paper presents a new extension of the DOB idea to dual- and multi-input single-output systems, and discusses an optimal filter design technique for the related loop-shaping. The proposed decoupled disturbance observer (DDOB) provides the flexibility to use the most suitable actuators for compensating disturbances with different spectral characteristics. Such a generalization is helpful, e.g., for modern dual-stage hard disk drives, where enhanced servo design is becoming more and more essential in the presence of vibration disturbances.
Optimal Decoupled Disturbance Observers for Dual-Input Single-Output Systems
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received December 5, 2012; final manuscript received March 20, 2014; published online July 9, 2014. Assoc. Editor: Evangelos Papadopoulos.
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Chen, X., and Tomizuka, M. (July 9, 2014). "Optimal Decoupled Disturbance Observers for Dual-Input Single-Output Systems." ASME. J. Dyn. Sys., Meas., Control. September 2014; 136(5): 051018. https://doi.org/10.1115/1.4027282
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