
Saunder January 22, 2014 10:43 K15053˙Book
274 Disturbance Observer-Based Control: Methods and Applications
It can be observed from Figure 15.5 that the output responses can precisely track
the reference commands during the whole missile flight regardless of the substantial
changes of its parameters. To achieve this, as shown in Figure 15.5, the pitch control
δ
z
continuously varies tocompensate the influence of the parametervariations. Figure
15.6 shows that the yaw rate ω
y
experiences a large change during the flight, which
(a)
0 5 10 15 20 25
−2
−1
0
1
2
Time, sec
Normal overload, n
z
(m/s
2
)
Setpoint
DOBRC
LQR
(b)
0 5 10 15 20 25
−2
0
2
4
6
8
10
12
Time, sec
Side overload, ...