Characteristic Analysis of Feedback Control System with Simplified Disturbance Compensator

Ariyoshi Tsuchiya; Toshiyuki Murakami

doi:10.1109/IECON.2003.1280694

Characteristic Analysis of Feedback Control System with Simplified Disturbance Compensator

Ariyoshi Tsuchiya, Toshiyuki Murakami

Department of System Design Engineering

Research output: Contribution to conference › Paper › peer-review

2 Citations (Scopus)

Abstract

In this paper, simplified disturbance compensator is proposed. It is the low order form of disturbance observer, and based on not acceleration but velocity. Disturbance observer is a powerful strategy to realize a robust acceleration control. However, it requires acceleration information and it is obtained by differentiation of velocity or second differentiation of position in general case, so there exits a tradeoff between the observer design and the noise sensitivity. The simplified disturbance compensator is more insensitive than observer because it is based on velocity and does not require the time differentiation. Additionally, it provides the performance of position control and load suppression equivalent to disturbance observer. Availability of the proposed method is confirmed by simulation and experimental results.

Original language	English
Pages	2817-2822
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2003.1280694
Publication status	Published - 2003 Dec 1
Event	The 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA, United States Duration: 2003 Nov 2 → 2003 Nov 6

Other

Other	The 29th Annual Conference of the IEEE Industrial Electronics Society
Country/Territory	United States
City	Roanoke, VA
Period	03/11/2 → 03/11/6

Keywords

Disturbance observer
Robust control
Velocity control

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/IECON.2003.1280694

Cite this

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title = "Characteristic Analysis of Feedback Control System with Simplified Disturbance Compensator",

abstract = "In this paper, simplified disturbance compensator is proposed. It is the low order form of disturbance observer, and based on not acceleration but velocity. Disturbance observer is a powerful strategy to realize a robust acceleration control. However, it requires acceleration information and it is obtained by differentiation of velocity or second differentiation of position in general case, so there exits a tradeoff between the observer design and the noise sensitivity. The simplified disturbance compensator is more insensitive than observer because it is based on velocity and does not require the time differentiation. Additionally, it provides the performance of position control and load suppression equivalent to disturbance observer. Availability of the proposed method is confirmed by simulation and experimental results.",

keywords = "Disturbance observer, Robust control, Velocity control",

author = "Ariyoshi Tsuchiya and Toshiyuki Murakami",

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doi = "10.1109/IECON.2003.1280694",

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AU - Tsuchiya, Ariyoshi

AU - Murakami, Toshiyuki

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N2 - In this paper, simplified disturbance compensator is proposed. It is the low order form of disturbance observer, and based on not acceleration but velocity. Disturbance observer is a powerful strategy to realize a robust acceleration control. However, it requires acceleration information and it is obtained by differentiation of velocity or second differentiation of position in general case, so there exits a tradeoff between the observer design and the noise sensitivity. The simplified disturbance compensator is more insensitive than observer because it is based on velocity and does not require the time differentiation. Additionally, it provides the performance of position control and load suppression equivalent to disturbance observer. Availability of the proposed method is confirmed by simulation and experimental results.

AB - In this paper, simplified disturbance compensator is proposed. It is the low order form of disturbance observer, and based on not acceleration but velocity. Disturbance observer is a powerful strategy to realize a robust acceleration control. However, it requires acceleration information and it is obtained by differentiation of velocity or second differentiation of position in general case, so there exits a tradeoff between the observer design and the noise sensitivity. The simplified disturbance compensator is more insensitive than observer because it is based on velocity and does not require the time differentiation. Additionally, it provides the performance of position control and load suppression equivalent to disturbance observer. Availability of the proposed method is confirmed by simulation and experimental results.

KW - Disturbance observer

KW - Robust control

KW - Velocity control

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T2 - The 29th Annual Conference of the IEEE Industrial Electronics Society

Y2 - 2 November 2003 through 6 November 2003

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Characteristic Analysis of Feedback Control System with Simplified Disturbance Compensator

Abstract

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Keywords

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