
Saunder January 22, 2014 10:43 K15053˙Book
An Overview 13
(a)
0 5 10 15 20 25 30 35 40
0
1
2
3
Output, y
Time, sec
9.5 10 10.5 11
1.5
2
2.5
0 0.5 1
0
1
2
3
DOBC
Integral control
High gain control
(b)
0 5 10 15 20 25 30 35 40
–30
–20
–10
0
10
20
Control Input, u
Time, sec
DOBC
Integral control
High gain control
Figure 1.6 Response curves of system (1.1) in the presence of disturbance under
the DOBC method: (a) output; (b) control input.
is employed to estimate such disturbances timely. To show the superiority of the
DOBC method in disturbance rejection, both the proportional control and the
integral control methods are implemented here for comparison studies. The con-
trol gain