Yet another tutorial of disturbance observer： robust stabilization and recovery of nominal performance 被引量：1

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

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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. 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.

作者 Hyungbo SHIM Gyunghoon PARK Youngjun JOO Juhoon BACK Nam Hoon JO

机构地区 ASRI Department of Electrical Engineering and Computer Science School of Robotics Department of Electrical Engineering

出处《Control Theory and Technology》 EI CSCD 2016年第3期237-249,共13页 控制理论与技术（英文版）

关键词 Disturbance observer robust stabilization robust transient response disturbance rejection Disturbance observer, robust stabilization, robust transient response, disturbance rejection

分类号 TP [自动化与计算机技术]

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