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On relationship between time-domain and frequency-domain disturbance observers and its applications

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journal contribution
posted on 12.05.2016, 12:34 by Jinya Su, Wen-Hua Chen, Jun Yang
This paper provides a generic analysis of the relationship between time/frequency-domain DOB design methodology. It is discovered that the traditional frequency-domain DOBs using a low pass filter with unity gain can only handle disturbances satisfying matching condition, while the traditional time-domain DOBs always generate an observer with a high order. A Functional Disturbance OBserver (FDOB) is proposed to improve the existing results together with its design guideline, frequency analysis and existence condition. Compared with the existing frequency-domain DOBs, the proposed FDOB can handle more classes of disturbances, while compared with the existing time-domain DOBs the proposed FDOB can generate an observer with a lower order. Numerical examples are presented to illustrate the main findings of this paper including a rotary mechanical system of nonminimum phase.

Funding

This work was jointly funded by UK Engineering and Physical Sciences Research Council (EPSRC) and BAE Systems EP/H501401/1).

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Published in

Journal of Dynamic Systems Measurement and Control: Transactions of the ASME

Citation

SU, J., CHEN, W-H. and YANG, J., 2016. On relationship between time-domain and frequency-domain disturbance observers and its applications. Journal of Dynamic Systems Measurement and Control: Transactions of the ASME, 138 (9), paper 091013.

Publisher

© American Society of Mechanical Engineers (ASME)

Version

AM (Accepted Manuscript)

Publisher statement

This work is made available according to the conditions of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by-nc-nd/4.0/

Acceptance date

20/04/2016

Publication date

2016

Notes

This paper was accepted for publication in the journal Journal of Dynamic Systems Measurement and Control: Transactions of the ASME and the definitive published version is available at http://dx.doi.org/10.1115/1.4033631

ISSN

1528-9028

Language

en

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