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Asymptotic Stabilization of Linear Systems with Time-Varying Input Disturbances Using Disturbance Observer Techniques and Min-Max Control Method

외란관측기법과 최대최소 제어방법을 이용한 시변 입력 외란을 갖는 선형 시스템의 점근 안정화

  • 송성호 (한림대학교 정보통신공학부) ;
  • 김백섭 (한림대학교 정보통신공학부)
  • Published : 2004.01.01

Abstract

This paper deals with asymptotic stabilization problems for linear systems with time-varying input disturbances. In order to eliminate the influence of a disturbance on the system, a disturbance observer is designed and the time-varying disturbance can be rejected using its estimated value. Since the disturbance observer is kind of low-pass filter, it has inevitably estimation errors. To eliminate the inflences on the performance due to these errors, the additional control is designed based on these estimation errors using a well-known min-max control method. It is shown that the asymptotic stability of the closed-loop system is guaranteed. In general, the min-max control method requires the switching of control inputs and the switching magnitude of the control input is determined by the disturbance estimation error bounds. As the error bounds can be made arbitrarily small by choosing the high gain for the disturbance observer, the control method suggested in this paper can reduce the chattering phenomena as small as possible. Therefore, it has superior performance to the existing ones.

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