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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
Disturbance Rejection for Magnetic Leviation Suspension System 205
V
o
I
o
I
i
x
z
Z
G
o
V
c
u
c
d
ˆ
l
K
x
K
d
p
L
p
G+
Operating
Point
Settings
+
+
+
+
+
+
+
(z
t
z)
Nonlinear
MAGLEV
Systems
Dierential
equation
(12.19)
Disturbance observer
LQR
z
t
Figure 12.2 Block diagram of the proposed DOBC method for the nonlinear MA-
GLEV system.
where t
0
is the initial time and k
i
is the integral coefficient to be designed. To find
an appropriate integral coefficient, a variable x
4
=
t
t
0
[
z
t
(τ ) z(τ )
]
dτ is taken as
an augmented state. For the augmented system, the LQR method is used to get the
control gain. The penalty matrixes are selected as
Q
I
=
Q 0
0 q
i
,
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Publisher Resources

ISBN: 9781466515802