Disturbance/Uncertainty Estimator Based Robust Control of Nonminimum Phase Systems


Kurkcu B., KASNAKOĞLU C., EFE M. Ö.

IEEE-ASME TRANSACTIONS ON MECHATRONICS, cilt.23, ss.1941-1951, 2018 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 23 Konu: 4
  • Basım Tarihi: 2018
  • Doi Numarası: 10.1109/tmech.2018.2835658
  • Dergi Adı: IEEE-ASME TRANSACTIONS ON MECHATRONICS
  • Sayfa Sayıları: ss.1941-1951

Özet

An open problem in disturbance/uncertainty estimator based control is to obtain explicit mathematical expressions for robust stability, performance, and bandwidth requirement. This paper offers a path based on H-infinity robust control to resolve this problem. Robust stability/performance is assured at the design phase. The main controller and disturbance observer are handled as a whole. The ideas are applicable to nonminimum phase systems as well. The theory is verified experimentally on a pan-tilt system and numerically on a rotary mechanical system. Comparisons with state-of-the art methods in literature show noticeable performance and robustness improvements.