
Saunder January 22, 2014 10:43 K15053˙Book
294 Disturbance Observer-Based Control: Methods and Applications
(a)
0 10 20 30 40
1.505
1.51
1.515
1.52
× 10
4
Time, sec
Velocity V, ft/s
(b)
0 10 20 30 40
1.095
1.1
1.105
1.11
1.115
1.12
1.125
× 10
5
Time, sec
Altitude h, ft
(c)
0 10 20 30 40
−0.05
0
0.05
0.1
0.15
Time, sec
Elevator deection δ
e
, rad
Figure 16.3 Variable response curves in the presence of parameter uncertainties
(Case I) under the proposed NDOBC (solid line) and baseline control (dashed line)
methods. The tracking commands are denoted by dash-dotted line. (Continued)