Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of Nonlinear Disturbance Observer Guaranteeing Global Stability and Robust Stability Condition

전역적 안정성을 보장하는 비선형 외란 관측기 설계 및 강인 안정도 조건

  • Received : 2011.08.01
  • Accepted : 2011.10.07
  • Published : 2011.12.01
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Abstract

A nonlinear version of disturbance observer is presented. The system under consideration is an uncertain single input single output nonlinear system and the nominal plant is also a nonlinear system. Compared to the previous implementation given in [8], the proposed scheme does not require an auxiliary variable anymore, thus it has a simpler and more intuitive structure. A robust stability condition for the overall closed-loop system is also provided.

Keywords

Acknowledgement

Supported by : 한국연구재단, 한국에너지 기술평가원

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