2023 |
Hamin Chang / Stephan Trenn Design of Q-filter-based Disturbance Observer for Differential Algebraic Equations and a Robust Stability Condition: Zero Relative Degree Case Proceedings Article In: 2023 62nd IEEE Conference on Decision and Control (CDC), pp. 8489-8494, IEEE Control Systems Society, Marina Bay Sands, Singapore, 2023, ISBN: 979-8-3503-0124-3. Abstract | Links | BibTeX | Tags: Differential algebraic equation, Disturbance observer, Disturbance rejection @inproceedings{nokey, While the disturbance observer (DOB)-based controller is widely utilized in various practical applications, there has been a lack of extension of its use to differential algebraic equations (DAEs). In this paper, we introduce several lemmas that establish necessary and/or sufficient conditions for specifying the relative degree of DAEs. Using these lemmas, we also figure out that there is a class of DAEs which can be viewed as linear systems with zero relative degree. For the class of DAEs, we propose a design of Q-filter-based DOB as well as a robust stability condition for systems controlled by the DOB through time domain analysis using singular perturbation theory. The proposed stability condition is verified by an illustrative example. |
Yongsoon Eun / Jaeho Lee / Hyungbo Shim Data-Driven Inverse of Linear Systems and Application to Disturbance Observer Proceedings Article In: 2023 American Control Conference (ACC), pp. 2806-2811, IEEE, San Diego, CA, USA, 2023, ISBN: 979-8-3503-2806-6. Abstract | Links | BibTeX | Tags: Data-driven control, Disturbance observer, Disturbance rejection, Linear Systems @inproceedings{nokeyt, This work develops a data-based construction of inverse dynamics for LTI systems. Specifically, the problem addressed here is to find an input sequence from the corresponding output sequence based on pre-collected input and output data. The problem can be considered as a reverse of the recent use of the behavioral approach, in which the output sequence is obtained for a given input sequence by solving an equation formed by pre-collected data. The condition under which the problem gives a solution is investigated and turns out to be L-delay invertibility of the plant and a certain degree of persistent excitation of the data input. The result is applied to form a data-driven disturbance observer. The plant dynamics augmented by the data-driven disturbance observer exhibits disturbance rejection without the model knowledge of the plant. |
2016 |
Hyungbo Shim / Gyunghoon Park / Youngjun Joo / Juhoon Back / Nam Hoon Jo Yet Another Tutorial of Disturbance Observer: Robust Stabilization and Recovery of Nominal Performance Journal Article In: Control Theory and Technology, vol. 14, no. 3, pp. 237-249, 2016. Abstract | Links | BibTeX | Tags: Disturbance observer, Disturbance rejection, Robust transient response @article{ShimParkJooBackJo16, 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. |
List of English Publication
2023 |
Design of Q-filter-based Disturbance Observer for Differential Algebraic Equations and a Robust Stability Condition: Zero Relative Degree Case Proceedings Article In: 2023 62nd IEEE Conference on Decision and Control (CDC), pp. 8489-8494, IEEE Control Systems Society, Marina Bay Sands, Singapore, 2023, ISBN: 979-8-3503-0124-3. |
Data-Driven Inverse of Linear Systems and Application to Disturbance Observer Proceedings Article In: 2023 American Control Conference (ACC), pp. 2806-2811, IEEE, San Diego, CA, USA, 2023, ISBN: 979-8-3503-2806-6. |
2016 |
Yet Another Tutorial of Disturbance Observer: Robust Stabilization and Recovery of Nominal Performance Journal Article In: Control Theory and Technology, vol. 14, no. 3, pp. 237-249, 2016. |