A discrete-time design and analysis of perturbation observer for motion control applications
SCIE
SCOPUS
- Title
- A discrete-time design and analysis of perturbation observer for motion control applications
- Authors
- Kwon, S; Chung, WK
- Date Issued
- 2003-05
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGI
- Abstract
- A discrete perturbation observer (DPO) is suggested in state-space form for motion control applications. In existing disturbance observer design methods, the low-pass filter (so-called Q-filter) is central. However, the effect of the Q-filter on performance and robustness has not been clarified, specifically in the discrete-time domain. Considering the discrete Q-filter, with general order and inertia perturbations as a structured model uncertainty, we clarify how the performance and robustness of the perturbation observer are changed according to the variation of the Q-filter pa- rameters and model parameter (i.e., inertia) perturbations in discrete control systems. Experimental results show the validity of the analysis and the effectiveness of the DPO.
- Keywords
- discrete-time control system; disturbance observer; perturbation observer; Q-filter; robust motion control; DISTURBANCE OBSERVER; DELAY
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/18551
- DOI
- 10.1109/TCST.2003.810398
- ISSN
- 1063-6536
- Article Type
- Article
- Citation
- IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, vol. 11, no. 3, page. 399 - 407, 2003-05
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