Advanced disturbance observer design for mechanical positioning systems

@article{Kim2003AdvancedDO,
  title={Advanced disturbance observer design for mechanical positioning systems},
  author={Bong Keun Kim and Wan Kyun Chung},
  journal={IEEE Trans. Industrial Electronics},
  year={2003},
  volume={50},
  pages={1207-1216}
}
Disturbance-observer (DOB)-based controller design is one of the most popular methods in the field of motion control. In this paper, the generalized disturbance compensation framework, named the robust internal-loop compensator (RIC) is introduced and an advanced design method of a DOB is proposed based on the RIC. The mixed sensitivity optimization problem, which is the main issue of DOB design, is also solved through the parametrization of the DOB in the RIC framework. Differently from… CONTINUE READING
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