Regular Papers

International Journal of Control, Automation and Systems 2020; 18(7): 1662-1670

Published online January 22, 2020

https://doi.org/10.1007/s12555-019-0045-1

© The International Journal of Control, Automation, and Systems

An H∞ Design of Disturbance Observer for a Class of Linear Time-invariant Single-input/Single-output Systems

Hyung-Tae Seo, Soohyun Kim, and Kyung-Soo Kim*

KAIST

Abstract

In the paper, a generalized H∞ framework for design of a disturbance observer (DOB) is newly presented for a class of linear time-invariant single-input/single-output systems. Motivated by the systematic synthesis of a stabilizing controller through the H∞ optimization, we formulate the DOB design method into an H∞ design problem with weighting functions in the frequency domain. Thanks to its generality, the proposed method can be consistently applied either to the unstable systems or the non-minimum phase systems. Through the examples, the efficacy of the method is validated.

Keywords Disturbance observer, H∞ optimization problem, linear fractional transformation, stabilizing scaling

Article

Regular Papers

International Journal of Control, Automation and Systems 2020; 18(7): 1662-1670

Published online July 1, 2020 https://doi.org/10.1007/s12555-019-0045-1

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

An H∞ Design of Disturbance Observer for a Class of Linear Time-invariant Single-input/Single-output Systems

Hyung-Tae Seo, Soohyun Kim, and Kyung-Soo Kim*

KAIST

Abstract

In the paper, a generalized H∞ framework for design of a disturbance observer (DOB) is newly presented for a class of linear time-invariant single-input/single-output systems. Motivated by the systematic synthesis of a stabilizing controller through the H∞ optimization, we formulate the DOB design method into an H∞ design problem with weighting functions in the frequency domain. Thanks to its generality, the proposed method can be consistently applied either to the unstable systems or the non-minimum phase systems. Through the examples, the efficacy of the method is validated.

Keywords: Disturbance observer, H∞ optimization problem, linear fractional transformation, stabilizing scaling

IJCAS
February 2025

Vol. 23, No. 2, pp. 359~682

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