
Saunder January 22, 2014 10:43 K15053˙Book
186 Disturbance Observer-Based Control: Methods and Applications
(a)
0 20 40 60 80 100 120 140 160 180 200
−1.5
−1.0
−0.5
0.0
0.5
1.0
Time (min)
(a)
Effects of Disturbances on the Particle Size
Estimation in nominal case
Estimation in mismatch case
Real time value
(b)
0 20 40 60 80 100 120 140 160 180 200
−4
−2
0
2
4
6
8
Time (min)
(b)
Effects of Disturbances on the Circulating Load
Estimation in nominal case
Estimation in mismatch case
Real time value
Figure 11.8 Response curves of disturbances and their estimations in the pres-
ence of step external disturbances under the DOB-MPC scheme in both the nom-
inal case (solid line) and ...