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Disturbance Observer-Based Control
book

Disturbance Observer-Based Control

by Shihua Li, Jun Yang, Wen-Hua Chen, Xisong Chen
April 2016
Intermediate to advanced content levelIntermediate to advanced
340 pages
9h 3m
English
CRC Press
Content preview from Disturbance Observer-Based Control
Saunder January 22, 2014 10:43 K15053˙Book
86 Disturbance Observer-Based Control: Methods and Applications
Disturbance
compensation
State
feedback
Plant
Extended State Observer
b
d
x(t) x(t)
y
o
(t)
S
–1
I
y
m
(t)
yˆ
m
(t)
ˆ
x(t)
ˆ
x(t)
ˆ
x(t)
d
ˆ
(t) = x
ˆ
n+1
(t)
c
o
C
m
A
A
b
u
K
x
u
d(t) = f(x,d(t), t)
L
b
u
C
m
S
–1
I
K
d
Figure 6.1 Configuration of the proposed GESOBC method.
or
u = K
x
ˆ
x + K
d
ˆ
d, (6.14)
where K
x
is the feedback control gain, and K
d
is the disturbance compensation gain,
designed as
K
d
=−[c
o
(A + b
u
K
x
)
1
b
u
]
1
c
o
(A + b
u
K
x
)
1
b
d
. (6.15)
Remark 6.5 The disturbance compensation gain K
d
in (6.15) is a general case and
suitable for both matching and mismatching cases. For the matching case, ...
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Publisher Resources

ISBN: 9781466515802