
Saunder January 22, 2014 10:43 K15053˙Book
248 Disturbance Observer-Based Control: Methods and Applications
u
w
ENMPC
Disturbance
observer
Helicopter
dynamics
–
u
0
d
f
xu
~
d
ˆ
f
u
ˆ
0
Figure 14.3 Composite controller structure.
stability of closed-loop system still needs to be examined, because the true distur-
bances are replaced by their estimation in composite controller (14.54), and there
are interactions interactions among the ENMPC, the disturbance observer and the
helicopter dynamics.
The closed-loop dynamics under the composite control law can be examined by
applying Equation (14.54) into helicopter model (14.9). Since the resulting system
is too complicated, ...