Title :
Disturbance observer in ℋ∞ frameworks
Author :
Choi, Youngjin ; Chung, Wan Kyun ; Youngil Youm
Author_Institution :
Sch. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea
Abstract :
A disturbance observer control scheme cannot be internally stabilized for unstable plants and nonminimum phase plants. Hence, we suggest the internally stabilizing disturbance observer which is derived from the concept of the Bezout identity and a coprime factorization, and it has some design constraints. The design constraints are derived from the small gain theorem and condition for good performance. The automatic design of an internally stabilizing disturbance observer is performed in ℋ∞ frameworks, and it is induced from the stability constraint and condition for good performance. We show that the disturbance observer is equivalent to a ℋ∞ control having a design parameter of Youla Q. The verification of an internally stabilizing disturbance observer is achieved for an unstable and nonminimum phase plant as the numerical example for a regulation problem
Keywords :
H∞ control; observers; stability; Bezout identity; H∞ control; Youla Q design parameter; automatic design; coprime factorization; design constraints; disturbance observer control scheme; internally stabilizing disturbance observer; nonminimum phase plants; small gain theorem; stability constraint; unstable plants; Automatic control; Constraint theory; Eigenvalues and eigenfunctions; Frequency; Friction; Optimal control; Riccati equations; Robots; Stability; Transfer functions;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-2775-6
DOI :
10.1109/IECON.1996.570587