An Adaptive Periodic-Disturbance Observer for Periodic-Disturbance Suppression

Hisayoshi Muramatsu, Seiichiro Katsura

Research output: Contribution to journalArticlepeer-review

76 Citations (Scopus)


Repetitive operations are widely conducted by automatic machines in industry. Periodic disturbances induced by the repetitive operations must be compensated to achieve precise functioning. In this paper, a periodic-disturbance observer (PDOB) based on the disturbance observer (DOB) structure is proposed. The PDOB compensates a periodic disturbance including the fundamental wave and harmonics by using a time-delay element. Furthermore, an adaptive PDOB is proposed for the compensation of frequency-varying periodic disturbances. An adaptive notch filter is used in the adaptive PDOB to estimate the fundamental frequency of the periodic disturbance. Simulations compare the proposed methods with a repetitive controller and the DOB. Practical performances are validated in experiments using a multiaxis manipulator. The proposal provides a new framework based on the DOB structure to design controllers using a time-delay element.

Original languageEnglish
Article number8288655
Pages (from-to)4446-4456
Number of pages11
JournalIEEE Transactions on Industrial Informatics
Issue number10
Publication statusPublished - 2018 Oct


  • Adaptive control
  • adaptive notch filter (ANF)
  • disturbance observer (DOB)
  • periodic disturbance
  • time-delay element

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Computer Science Applications
  • Electrical and Electronic Engineering


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