제어로봇시스템학회:학술대회논문집
- 2001.10a
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- Pages.31.5-31
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- 2001
Performance and Robustness of Discrete Perturbation Observer
- Sangjoo Kwon (POSTECH) ;
- Chung, Wan-Kyun (POSTECH) ;
- Youngil Youm (POSTECH)
- Published : 2001.10.01
Abstract
In conventional perturbation estimators such as disturbance observers(DOB) [1, 2] or time-delayed controllers(TDC) [3{5}, the low pass filter(so-called Q-filter) plays an important role in the stability and performance. However, a general design guideline or analysis for the Q-filter has not been researched yet. In this paper, a guideline for the design of discrete Q-filter is suggested in terms of the analysis of the relationship between the filter parameters and stability performance robustness in discrete-time domain. The analysis clarifies the discrete-time effect of the perturbation estimator and provides a transparent relationship between performance and robustness depending ...
Keywords