Title :
Internal model control and disturbance observers
Author :
Gorez, R. ; Galardini, D. ; Zhu, K.Y.
Author_Institution :
Lab. d´´Autom., Dynamique et Anal. des Syst., Univ. Catholique de Louvain, Belgium
Abstract :
Internal model control schemes based on disturbance observers are analyzed and compared. It is shown that the proper choice of a filter and the possible use of an additional secondary feedback can give the various control structures the same performance and robustness. Theoretical analysis and examples indicate that a control scheme using a disturbance observer based on a model of the controlled system is the simplest one for applications where the controlled system includes an integrating process submitted to possibly constant disturbances at its input
Keywords :
control system analysis; feedback; state estimation; control structures; disturbance observers; internal model control; robustness; secondary feedback; Control nonlinearities; Control system synthesis; Control systems; Feedback; Feedback loop; Filters; Robust control; Robust stability; Servomechanisms; Transfer functions; Vehicle dynamics;
Conference_Titel :
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Conference_Location :
Brighton
Print_ISBN :
0-7803-0450-0
DOI :
10.1109/CDC.1991.261294