A New Framework of Disturbance Observer with Vidyasagar's Structure

CSME 2018/12
Volume 39 No.6 : 619-635

A New Framework of Disturbance Observer with Vidyasagar's Structure

Yu-Xian Chen^a, Ruei-Yu Huang^a, Shih-Chung Chang^a, Yi-Ren Pan^a and An-Chen Lee^a
^aDepartment of Mechanical Engineering, National Chiao Tung University, Hsinchu, Taiwan 30010, ROC

Abstract: This paper proposes a novel two degree of freedom (TDOF) control structure: a combination of Vidyasagar's structure (VS) and the doubly coprime factorization based disturbance observer (DCFDOB). The DCFDOB-VS framework is aimed at providing a control structure and design procedure for a MIMO system with good characteristics of disturbance attenuation, tracking, and decoupling property. The structure can deal with stable/unstable and minimum phase/non-minimum phase plants. The advantage of the method is that two parameters can be designed for different purposes, independently. The parameter H stabilizes the system and improves tracking property. Once the parameter H has been designed, then the Qᵧ can be implemented via a parameter Q for rejecting disturbances and improving the system robustness.

Keywords: Robust stability, Decoupling control, Disturbance-observer controller, Doubly coprime factorization.

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