摘要
This paper proposes a novel two degree of freedom (TDOF) control structure: a combination of Vidyasagar's structure (VS) and the doubly coprime factorization based disturbance observer (DCFDOB). The DCFDOB-VS framework is aimed at providing a control structure and design procedure for a MIMO system with good characteristics of disturbance attenuation, tracking, and decoupling property. The structure can deal with stable/unstable and minimum phase/non-minimum phase plants. The advantage of the method is that two parameters can be designed for different purposes, independently. The parameter H stabilizes the system and improves tracking property. Once the parameter H has been designed, then the QY can be implemented via a parameter Q for rejecting disturbances and improving the system robustness.
貢獻的翻譯標題 | A New Framework of Disturbance Observer with Vidyasagar's Structure |
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原文 | ???core.languages.zh_TW??? |
頁(從 - 到) | 619-635 |
頁數 | 17 |
期刊 | Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao |
卷 | 39 |
發行號 | 6 |
出版狀態 | Published - 1 12月 2018 |
Keywords
- Decoupling control
- Disturbance-observer controller
- Doubly coprime factorization
- Robust stability