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 QY can be implemented via a parameter Q for rejecting disturbances and improving the system robustness.
|Translated title of the contribution||A New Framework of Disturbance Observer with Vidyasagar's Structure|
|Original language||Chinese (Traditional)|
|Number of pages||17|
|Journal||Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao|
|State||Published - 1 Dec 2018|