Vibration suppression control of a two mass system by using a robust disturbance observer

In this paper, we propose a new robust observer for a vibration suppression control of a two mass system. Representative controller for a disturbance control has various kinds of disturbance observers(DOB), H_infin and other nonlinear control schemes. Especially, both DOB and H_infin are well known for their efficiency with respect to a disturbance rejection. In this paper we considered a problem that uses H_infin and DOB together. If we use DOB and H_infin as a cascade type, the performance of the control is not efficient due to a fault in that a systems of the degree increases when it designs a controller. Therefore we designed a type that compensates error of the DOB and H_infin controller output regarding a control input. We implemented a DOB and H_infin comparison simulation to prove the performance of controller that is proposed in this paper. Simulation was performed for a disturbance response with about a zero input. We found that the proposed controller revealed a small vibration. For a verification, we performed simulations by using MATLAB/SIMULINK.