Analysis and design of H∞ robust disturbance observer based on LMI

Guo Zhu Zhang; Jie Chen; Zhi Ping Li

doi:10.1109/WCICA.2008.4594531

Analysis and design of H_∞ robust disturbance observer based on LMI

Guo Zhu Zhang^*
, Jie Chen
, Zhi Ping Li

^*Corresponding author for this work

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

11 Scopus citations

Abstract

Disturbance observer (DOB)-based controller design is one of the most popular methods in the field of motion control. This paper presents a design method for the disturbance observers to satisfy closed loop performance specifications, provided that the main feedback controller is known. Unlike the conventional methods, the proposed DOB design method takes into account the influence from not only disturbance and noise but also model uncertainty to the system's stability and performance. Utilizing the LMI method, the H _∞ optimal disturbance observer can be obtained by solving a series of convex optimization problems. Furthermore, by introducing the weighted transfer functions, the proposed method can guarantee the robust stability as well as robust performance of the system.

Original language	English
Title of host publication	Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08
Pages	4697-4701
Number of pages	5
DOIs	https://doi.org/10.1109/WCICA.2008.4594531
State	Published - 2008
Externally published	Yes
Event	7th World Congress on Intelligent Control and Automation, WCICA'08 - Chongqing, China Duration: 25 Jun 2008 → 27 Jun 2008

Publication series

Name	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

Conference

Conference	7th World Congress on Intelligent Control and Automation, WCICA'08
Country/Territory	China
City	Chongqing
Period	25/06/08 → 27/06/08

Keywords

Disturbance observer (DOB)
H control
LMI

Access to Document

10.1109/WCICA.2008.4594531

Cite this

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title = "Analysis and design of H∞ robust disturbance observer based on LMI",

abstract = "Disturbance observer (DOB)-based controller design is one of the most popular methods in the field of motion control. This paper presents a design method for the disturbance observers to satisfy closed loop performance specifications, provided that the main feedback controller is known. Unlike the conventional methods, the proposed DOB design method takes into account the influence from not only disturbance and noise but also model uncertainty to the system's stability and performance. Utilizing the LMI method, the H ∞ optimal disturbance observer can be obtained by solving a series of convex optimization problems. Furthermore, by introducing the weighted transfer functions, the proposed method can guarantee the robust stability as well as robust performance of the system.",

keywords = "Disturbance observer (DOB), H control, LMI",

author = "Zhang, \{Guo Zhu\} and Jie Chen and Li, \{Zhi Ping\}",

year = "2008",

doi = "10.1109/WCICA.2008.4594531",

language = "英语",

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pages = "4697--4701",

booktitle = "Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08",

note = "7th World Congress on Intelligent Control and Automation, WCICA'08 ; Conference date: 25-06-2008 Through 27-06-2008",

}

Zhang, GZ, Chen, J & Li, ZP 2008, Analysis and design of H_∞ robust disturbance observer based on LMI. in Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08., 4594531, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), pp. 4697-4701, 7th World Congress on Intelligent Control and Automation, WCICA'08, Chongqing, China, 25/06/08. https://doi.org/10.1109/WCICA.2008.4594531

Analysis and design of H_∞ robust disturbance observer based on LMI. / Zhang, Guo Zhu; Chen, Jie; Li, Zhi Ping.
Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08. 2008. p. 4697-4701 4594531 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - Disturbance observer (DOB)-based controller design is one of the most popular methods in the field of motion control. This paper presents a design method for the disturbance observers to satisfy closed loop performance specifications, provided that the main feedback controller is known. Unlike the conventional methods, the proposed DOB design method takes into account the influence from not only disturbance and noise but also model uncertainty to the system's stability and performance. Utilizing the LMI method, the H ∞ optimal disturbance observer can be obtained by solving a series of convex optimization problems. Furthermore, by introducing the weighted transfer functions, the proposed method can guarantee the robust stability as well as robust performance of the system.

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