Abstract

This brief shows that the design constraints on the plant-model mismatch and the bandwidth of the disturbance observer (DOb) become more severe when the robust controller is implemented using computers. This brief also shows that continuous-time analysis methods fall-short in explaining the fundamental design constraints of the DOb-based robust digital control systems, therefore leading to unexpected stability and performance problems in practice.

References

1.
Ohnishi
,
K.
,
Shibata
,
M.
, and
Murakami
,
T.
,
1996
, “
Motion Control for Advanced Mechatronics
,”
IEEE/ASME Trans. Mechatronics
,
1
(
1
), pp.
56
67
.10.1109/3516.491410
2.
Sariyildiz
,
E.
,
Oboe
,
R.
, and
Ohnishi
,
K.
,
2020
, “
Disturbance Observer-Based Robust Control and Its Applications: 35th Anniversary Overview
,”
IEEE Trans. Ind. Electron.
,
67
(
3
), pp.
2042
2053
.10.1109/TIE.2019.2903752
3.
Andrievsky
,
B.
, and
Furtat
,
I.
,
2020
, “
Disturbance Observers: Methods and Applications. I. Methods
,”
Autom. Remote Control
,
81
(
9
), pp.
1563
1610
.10.1134/S0005117920090015
4.
Sariyildiz
,
E.
, and
Ohnishi
,
K.
,
2014
, “
A Guide to Design Disturbance Observer
,”
ASME. J. Dyn. Syst. Meas. Control
,
136
(
2
), p.
021011
.10.1115/1.4025801
5.
Sariyildiz
,
E.
, and
Ohnishi
,
K.
,
2013
, “
Bandwidth Constraints of Disturbance Observer in the Presence of Real Parametric Uncertainties
,”
Eur. J. Control
,
19
(
3
), pp.
199
205
.10.1016/j.ejcon.2013.03.009
6.
Godler
,
I.
,
Honda
,
H.
, and
Ohnishi
,
K.
,
2002
, “
Design Guidelines for Disturbance Observer's Filter in Discrete Time
,”
International Workshop on Advanced Motion Control
, Maribor, Slovenia, July 3–5, pp.
390
395
.10.1109/AMC.2002.1026952
7.
Bertoluzzo
,
M.
,
Buja
,
G. S.
, and
Stampacchia
,
E.
,
2004
, “
Performance Analysis of a High-Bandwidth Torque Disturbance Compensator
,”
IEEE/ASME Trans. Mechatron.
,
9
(
4
), pp.
653
660
.10.1109/TMECH.2004.839041
8.
Sariyildiz
,
E.
,
Hangai
,
S.
,
Uzunovic
,
T.
, and
Nozaki
,
T.
,
2021
, “
Discrete-Time Analysis and Synthesis of Disturbance Observer-Based Robust Force Control Systems
,”
IEEE Access
,
9
, pp.
148911
148924
.10.1109/ACCESS.2021.3123365
9.
Chen
,
X.
, and
Tomizuka
,
M.
,
2010
, “
Optimal Plant Shaping for High Bandwidth Disturbance Rejection in Discrete Disturbance Observers
,”
Proceedings of the American Control Conference
, Baltimore, MD, June 30–July 2, pp.
2641
2646
.10.1109/ACC.2010.5531256
10.
Kong
,
K.
, and
Tomizuka
,
M.
,
2013
, “
Nominal Model Manipulation for Enhancement of Stability Robustness for Disturbance Observer-Based Control Systems
,”
Int. J. Control Autom. Syst.
,
11
(
1
), pp.
12
20
.10.1007/s12555-011-9214-6
11.
Wu
,
B.
, and
Jonckheere
,
E. A.
,
1992
, “
A Simplified Approach to Bode's Theorem for Continuous-Time and Discrete-Time Systems
,”
IEEE Trans. Autom. Control
,
37
(
11
), pp.
1797
1802
.10.1109/9.173154
12.
Skogestad
,
S.
, and
Postlethwaite
,
I.
,
2005
,
Multivariable Feedback Control: Analysis and Design
,
Wiley
, Hoboken, NJ.
13.
Doyle
,
J. C.
,
Francis
,
B. A.
, and
Tannenbaum
,
A. R.
,
1992
,
Feedback Control Theory
,
Macmillan Publishing
, New York.
14.
Katsura
,
S.
,
Irie
,
K.
, and
Ohishi
,
K.
,
2008
, “
Wideband Force Control by Position-Acceleration Integrated Disturbance Observer
,”
IEEE Trans. Ind. Electron.
,
55
(
4
), pp.
1699
1706
.10.1109/TIE.2007.907664
15.
Chen
,
K.
,
2020
, “
A Real-Time Parameter Estimation Method by Using Disturbance Observer-Based Control
,”
ASME J. Dyn. Sys. Meas. Control
,
142
(
5
), p.
051005
.10.1115/1.4046153
16.
Ugurlu
,
B.
,
Sariyildiz
,
E.
,
Kansizoglu
,
A. T.
,
Ozcinar
,
E.
, and
Coruk
,
S.
,
2021
, “
Benchmarking Torque Control Strategies for a Torsion-Based Series Elastic Actuator
,”
IEEE Rob. Autom. Mag.
, pp.
2
13
.10.1109/MRA.2021.3124154
17.
Natori
,
K.
,
Tsuji
,
T.
,
Ohnishi
,
K.
,
Hace
,
A.
, and
Jezernik
,
K.
,
2010
, “
Time-Delay Compensation by Communication Disturbance Observer for Bilateral Teleoperation Under Time-Varying Delay
,”
IEEE Trans. Ind. Electron.
,
57
(
3
), pp.
1050
1062
.10.1109/TIE.2009.2028337
You do not currently have access to this content.