
Saunder January 22, 2014 10:43 K15053˙Book
110 Disturbance Observer-Based Control: Methods and Applications
(a)
0 2 4 6 8 10
0
2
4
6
8
10
12
Time, sec
Output, y (deg)
Reference
NDOBRC
NDIC
NDIC+I
(b)
0 2 4 6 8 10
−8
−6
−4
−2
0
2
Time, sec
Commanded Fin Deflections, u (deg)
NDOBRC
NDIC
NDIC+I
Figure 7.4 Response curves of the output and input in the first case of model
uncertainties (both f
1
(α) and f
2
(α)havevariations of +20%) under the control
laws of NDOBRC (7.50) (solid line), NDIC (7.31) (dashed line), and NDIC+I (7.52)
(dash-dotted line). The reference signal is denoted by dotted line.