• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1209-1212
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• 1996

In this paper, we design a stabilizing controller with disturbance rejection properties for multirate sampled-data systems which have periodic output measurement scheme. We assume that the plant is open-loop unstable and the disturbance consists of a sum of finite number of sine waves with different frequencies. A sufficient condition for maintaining observability in multirate sampled-data systems is derived. The proposed controller has an IMC structure and can be decomposed into the filtered-disturbance estimator and the inverse of the fast uniform sampled model of the pre-stabilized plant. An example is presented for illustrations.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.53 no.7
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• pp.444-451
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• 2004

Conventional magnetic levitation systems could show unsatisfactory performance under air-gap disturbance due to rail irregularities. In this paper, we propose a feedback control system with discrete Kalman filter for air-gap disturbance attenuation. It is shown that excellent system performance can be obtained with the use of discrete Kalman filter, and that results from experiments agree well with those of simulations.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.878-883
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• 1990

There have been many approaches to solve the disturbance rejection problem in the control of LTI systems with state independent disturbances or possibly nonlinear state dependent disturbances. From the view point of each actuator, robot manipulators can be modeled as the second class of systems. With this model, M.Nakao et al. [1] introduced a decentralized control scheme based on interference estimation which is simple in its implementation and robust to the coupled dynamics and parameter variations. This paper systematically generalizes the control scheme to arbitrary finite dimensional LTI systems with disturbances. In doing so, we develop a disturbance observer theory for solving the disturbance rejection problem. We also present a discrete version of the theory with discussion of sampling and time-delay effects.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.9
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• pp.811-817
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• 2015

In this paper, we present a new control structure which is obtained by adding an appropriately designed filter to a conventional disturbance observer. The proposed controlled system preserves advantages of a system with the conventional disturbance observer; disturbance rejection and nominal performance recovery. In particular, by embedding the filter, the disturbance rejection performance is enhanced compared with that of the classical disturbance observer-based controlled system. Moreover, we suggest a condition for the robust internal stability of the considered system in this paper. Simulation results regarding an effect of relatively high-frequency disturbance on hard disk drive are also presented.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.7
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• pp.800-807
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• 1999

A Periodic disturbance canceller is proposed to compensate for the periodic disturbance due to cutting process in a CNC machining center. The periodic disturbance canceller estimates the Periodic disturbance without phase delay. This is achieved by using linear phase low-pass filter and frequency response reciprocal filter of plant at the frequency of the periodic disturbance. This method is implemented in the position control system of the CNC machining center with general disturbance compensators in order to compensate for both the frictional force and the periodic disturbance. The experimental results are described to show its effectiveness.

• Transactions of the Society of Information Storage Systems
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• v.3 no.1
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• pp.5-12
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• 2007

This paper investigates the design of disturbance observer for rotational vibration suppression in disk drive systems. The design aims to provide an optimal controller which satisfies both vibration performance and robust stability. It consists of an inversion method, a special filter, and optimization scheme. Firstly a new inversion method is introduced, which provides more accurate inversion compared to conventional zero phase error method. The inversion is to deal with unstable zeros in the plant model. Secondly a special filter for disturbance selection is given, which features adjustable gain and band pass characteristics so that it enables flexible shaping of the loop considering the trade-off between performance and stability margins. And finally the parameters of disturbance observer are optimized in conjunction with external disturbance model. Simulation and experiment on commercial hard disk drives confirm that the design is very effective to such disturbance which is hard to be handled by conventional approach.

• International Journal of Control, Automation, and Systems
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• v.3 no.spc2
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• pp.262-269
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• 2005

In this paper, a nonlinear robust control approach is applied to design a controller for the Static Synchronous Compensator (STATCOM). A robust control dynamic model of STATCOM in a one-machine, infinite-bus system is established with consideration of the torque disturbance acting on the rotating shaft of the generator set and the disturbance to the output voltage of STATCOM. A novel recursive approach is utilized to construct the energy storage function of the system such that the solution to the disturbance attenuation control problem is acquired, which avoids the difficulty involved in solving the Hamilton-Jacobi-Issacs (HJI) inequality. Sequentially, the nonlinear disturbance attenuation control strategy of STATCOM is obtained. Simulation results demonstrate that STATCOM with the proposed controller can more effectively improve the voltage stability, damp the oscillation, and enhance the transient stability of power systems compared to the conventional PI+PSS controller.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.6
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• pp.425-434
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• 2003

The disturbance observer(DOB) has been widely used in high speed and high precision motion control applications and the characteristics of DOB have been investigated in depth. Though most of DOB's have been implemented as the discrete-time form in digital devices, we are still short of the researches on discrete-time DOB (DDOB) in spite of rich references on continuous-time DOB. In this paper, we discuss about the disturbance rejection property and measurement noise effect of discrete-time DOB. Especially, we will focus on revealing the role of sampling time in designing the discrete-time DOB and show the validity of analysis through simulations and experiments for optical disk drive systems.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.4
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• pp.319-323
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• 2002

In this paper, we consider the track-following control problem in the optical data storage systems in the presence of the eccentricity. The eccentricity results in the radial deviation of the objective lens so that it degrades the reliability of the data decoding system. To cope with the eccentricity, an adaptive disturbance compensation technique is newly proposed in the time domain based on a disturbance observer of reduced order, which effectively estimates the low frequency components of the disturbance. The proposed compensator is simply added to the conventional feedback control. The error dynamics of the observer and the sensitivity analysis are given to illustrate the effectiveness of the proposed approach. Finally, through experiments in an optical storage system, the feasibility of the proposed approach is verified.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.24-27
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• 1997

A periodic disturbance canceler is proposed to compensate the periodic disturbance due to cutting process in a CNC machining center. For precision cutting, the combination of a disturbance observer and a periodic disturbance canceler is desirable in order to compensate both the frictional force and the periodic disturbance. This method is implemented in a position control system of a CNC machining center in cutting process and the experimental results are described to show its effectiveness.