Yet another tutorial of disturbance observer： robust stabilization and recovery of nominal performance

作     者：Hyungbo SHIM Gyunghoon PARK Youngjun JOO Juhoon BACK Nam Hoon JO 

作者机构：ASRI Department of Electrical and Computer Engineering Seoul National University Korea Department of Electrical Engineering and Computer Science University of Central Florida U.S.A. School of Robotics Kwangwoon University Korea Department of Electrical Engineering Soongsil University Korea 

出 版 物：《Control Theory and Technology》 (控制理论与技术（英文版）)

年 卷 期：2016年第14卷第3期

页      面：237-249页

核心收录：

学科分类：0820[工学-石油与天然气工程] 12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0802[工学-机械工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 

基　　金：was partially supported by University of Florida, U.S.A the National Research Foundation of Korea (NRF) grant funded by the Korea government (MISP) 

主　　题：Disturbance observer robust stabilization robust transient response disturbance rejection 

摘      要：This paper presents a tutorial-style review on the recent results about the disturbance observer （DOB） in view of robust stabilization and recovery of the nominal performance. The analysis is based on the case when the bandwidth of Q-filter is large, and it is explained in a pedagogical manner that, even in the presence of plant uncertainties and disturbances, the behavior of real uncertain plant can be made almost similar to that of disturbance-free nominal system both in the transient and in the steady-state. The conventional DOB is interpreted in a new perspective, and its restrictions and extensions are discussed.