A New Framework of Disturbance Observer with Vidyasagar's Structure

Yu-Xian Chen, Ruei-Yu Huang, Shih-Chung Chang, Yi-Ren Pan, An-Chen Lee

Research output: Contribution to journalArticlepeer-review


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 Y Q can be implemented via a
parameter Q for rejecting disturbances and
improving the system robustness.
Original languageAmerican English
Article number6
Pages (from-to)619-635
Number of pages17
JournalJournal of the Chinese Society of Mechanical Engineers
Issue number6
StatePublished - Dec 2018


  • Robust stability, Decoupling control, Disturbance-observer controller, Doubly coprime factorization,

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