Title :
On the robustness and performance of disturbance observers for second-order systems
Author :
Choi, Youngjin ; Yang, Kwangjin ; Chung, Wan Kyun ; Kim, Hong Rok ; Suh, Il Hong
Author_Institution :
Intelligent Syst. Control Res. Center, Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
Abstract :
The disturbance observer (DOB) has been widely utilized for high-precision and high-speed motion control applications. In this note, we suggest the robustness measure of the DOB as a criterion to design the robust DOB systems. Also, we suggest its design guidelines especially for second-order systems. Experimental results for an optical disk drive system show the validity of design guidelines.
Keywords :
disc drives; motion control; observers; optical disc storage; robust control; design guidelines; disturbance observers; high-precision motion control; high-speed motion control; optical disk drive system; robustness; second-order systems; Control systems; Disk drives; Guidelines; High speed optical techniques; Intelligent control; Intelligent robots; Low pass filters; Optical feedback; Optical filters; Robustness;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2002.808491
