
Saunder January 22, 2014 10:43 K15053˙Book
Chapter 5
Disturbance
Observer-Based Control
for Nonlinear Systems
5.1 Introduction
This chapter addresses a disturbance observer-based control (DOBC) approach for
nonlinear systems under disturbances, that is, nonlinear DOBC or NDOBC. Within
the NDOBC framework, instead of considering the control problem for a nonlinear
system with disturbances as a single one, it is divided into two subproblems, each
with its own design objectives. The first subproblem is the same as the control prob-
lem for a nonlinear system without disturbances and its objective is to stabilize the
nonlinear plant and obtain desired tracking ...