List of English Publication

@inproceedings{nokey,

title = {Determination of Bandwidth of Q-Filter in Disturbance Observers to Guarantee Transient and Steady State Performance Under Measurement Noise},

author = {Gaeun Kim and Hyungbo Shim},

doi = {10.23919/ICCAS66577.2025.11301287},

year  = {2025},

date = {2025-11-06},

urldate = {2025-11-06},

publisher = {2025 25th International Conference on Control, Automation and Systems (ICCAS)},

address = {Songdo Convensia, Incheon, Korea},

organization = {Institute of Control, Robotics and Systems},

abstract = {Q-filter-based disturbance observer (DOB) is one of the most widely used robust controller due to its design simplicity. Such simplicity arises from that reducing τ, which is the time constant of low pass filters, not only ensures robust stability but also enhances nominal performance recovery—ability to recover the trajectory of nominal closed-loop system. However, in contrast to noise-free setup, excessively small τ can rather damage the nominal performance recovery under measurement noise. That is, minimizing τ is no longer immediately guaranteeing nominal performance recovery. Motivated by this observation, this paper concentrates on determination of τ to guarantee transient and steady state performance. This analysis uses Lyapunov method utilizing the coordinate transformation inspired by the analysis based on singular perturbation theory. As a result, we present an affordable noise level and open interval for τ that guarantees both the required performances. The analysis can also lead to theoretical demonstration on that excessively reducing τ gives assurance to achieve target performance only for noise-free case.},

keywords = {Disturbance observer, Noise measurement, Singular perturbation},

pubstate = {published},

tppubtype = {inproceedings}

}