This paper provides a generic analysis of the relationship between time- and frequency-domain disturbance observer (DOB) design methodology. It is discovered that the traditional frequency-domain DOBs using a low-pass filter with unity gain can only handle disturbances satisfying matching condition, while the traditional time-domain DOBs always generate an observer with a high-order. A functional disturbance observer (FDOB) is proposed to improve the existing results together with its design guideline, frequency analysis, and existence condition. Compared with the existing frequency-domain DOBs, the proposed FDOB can handle more classes of disturbances, while compared with the existing time-domain DOBs, the proposed FDOB can generate an observer with a lower-order. Numerical examples are presented to illustrate the main findings of this paper including a rotary mechanical system of nonminimum phase.
On Relationship Between Time-Domain and Frequency-Domain Disturbance Observers and Its Applications
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received September 7, 2015; final manuscript received April 20, 2016; published online June 15, 2016. Assoc. Editor: Soo Jeon.
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Su, J., Chen, W., and Yang, J. (June 15, 2016). "On Relationship Between Time-Domain and Frequency-Domain Disturbance Observers and Its Applications." ASME. J. Dyn. Sys., Meas., Control. September 2016; 138(9): 091013. https://doi.org/10.1115/1.4033631
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