雙互質分解干擾觀測器

Translated title of the contribution: 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*

*Corresponding author for this work

Research output: Contribution to journalArticle

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 QY can be implemented via a parameter Q for rejecting disturbances and improving the system robustness.

Translated title of the contributionA New Framework of Disturbance Observer with Vidyasagar's Structure
Original languageChinese (Traditional)
Pages (from-to)619-635
Number of pages17
JournalJournal 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
Volume39
Issue number6
StatePublished - 1 Dec 2018

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