Regular Papers

International Journal of Control, Automation and Systems 2015; 13(3): 575-586

Published online March 28, 2015

https://doi.org/10.1007/s12555-013-0531-9

© The International Journal of Control, Automation, and Systems

An H∞ Modified Robust Disturbance Observer Design for Mechanical-positioning Systems

Andrej Sarjaš*, Rajko Svečko, and Amor Chowdhury

University of Maribor

Abstract

This article presents a modified robust disturbance observer-RIC for a mechanical-positioning system. The proposed RIC structure ensures a higher level of stability margin and offers transparent selection of the controller’s structure and feedback dynamic. The modified RIC controller design is divided into two main stages, where the first stage provides a design for the internal robust controller and the second a design for the external performance controller. The controller structure ensures a robust stability and performances property and good capability of low-frequency input and output disturbances suppression. The controller synthesis based on a pole-placement technique using optimization of the robust criteria based on even polynomials, and positive conditions. The solution to the problem is based on a multi-criterion optimization algorithm with a fixed order controller structure.

Keywords Convex optimization, disturbance observer-DOB, internal loop compensator-RIC, multi-criterion optimization, robust control, uncertainty systems.

Article

Regular Papers

International Journal of Control, Automation and Systems 2015; 13(3): 575-586

Published online June 1, 2015 https://doi.org/10.1007/s12555-013-0531-9

Copyright © The International Journal of Control, Automation, and Systems.

An H∞ Modified Robust Disturbance Observer Design for Mechanical-positioning Systems

Andrej Sarjaš*, Rajko Svečko, and Amor Chowdhury

University of Maribor

Abstract

This article presents a modified robust disturbance observer-RIC for a mechanical-positioning system. The proposed RIC structure ensures a higher level of stability margin and offers transparent selection of the controller’s structure and feedback dynamic. The modified RIC controller design is divided into two main stages, where the first stage provides a design for the internal robust controller and the second a design for the external performance controller. The controller structure ensures a robust stability and performances property and good capability of low-frequency input and output disturbances suppression. The controller synthesis based on a pole-placement technique using optimization of the robust criteria based on even polynomials, and positive conditions. The solution to the problem is based on a multi-criterion optimization algorithm with a fixed order controller structure.

Keywords: Convex optimization, disturbance observer-DOB, internal loop compensator-RIC, multi-criterion optimization, robust control, uncertainty systems.

IJCAS
June 2024

Vol. 22, No. 6, pp. 1761~2054

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