In the paper, a generalized H∞ framework for design of a disturbance observer (DOB) is newly presented for a class of linear time-invariant single-input/single-output systems. Motivated by the systematic synthesis of a stabilizing controller through the H∞ optimization, we formulate the DOB design method into an H∞ design problem with weighting functions in the frequency domain. Thanks to its generality, the proposed method can be consistently applied either to the unstable systems or the non-minimum phase systems. Through the examples, the efficacy of the method is validated.
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Hyung-Tae Seo received his B.S. and M.S. degrees in mechanical engineering from the Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, in 2011 and 2013, respectively, where he is currently working toward a Ph.D. degree. His current research interests include the control of hydraulic actuation systems and robust control theories including disturbance observer-based control.
Soohyun Kim received his B.S. degree in mechanical engineering from Seoul National University, Seoul, Korea, in 1978; an M.S. degree from Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, in 1980; and a Ph.D. degree from Imperial College London, London, U.K., in 1991. He is currently a Professor of mechanical engineering with KAIST. His research interests include the design of bio-mimetic robot system, autonomous path planning, spectroscopy, and optics-based sensors.
Kyung-Soo Kim received his B.S., M.S., and Ph.D. degrees in mechanical engineering from the Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, in 1993, 1995, and 1999, respectively. He was a Chief Researcher with Electronics, Inc., from 1999 to 2003, and a DVD Group Manager with STMi-croelectronics Company, Ltd., from 2003 to 2005. In 2005, he joined the Department of Mechanical Engineering, Korea Polytechnic University, Siheung, Korea, as a Faculty Member. Since 2007, he has been with the Department of Mechanical Engineering, KAIST. His research interests include automotive control technologies, sensor and actuator design, and control theories such as disturbance estimation/compensation and variable structure control.
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Seo, H., Kim, S. & Kim, K. An H∞ Design of Disturbance Observer for a Class of Linear Time-invariant Single-input/Single-output Systems. Int. J. Control Autom. Syst. 18, 1662–1670 (2020). https://doi.org/10.1007/s12555-019-0045-1
- Disturbance observer
- H∞ optimization problem
- linear fractional transformation
- stabilizing scaling