
Saunder January 22, 2014 10:43 K15053˙Book
Chapter 2
Linear Disturbance
Estimator
2.1 Introduction
In this chapter, several commonly used linear disturbance estimation techniques
are introduced. The frequency domain disturbance observer, which was proposed
by [27] in the industrial application society in late 1980s, is presented first for both
minimum phase and nonminimum phase cases. The time domain formulation of the
disturbance observer is provided with a detailed analysis later. Finally, the extended
state observer technique, which can simultaneously estimate states and disturbances,
is presented.
2.2 Frequency Domain Disturbance Observer
2.2.1 Minimum-Phase ...