Reduced order disturbance observer for discrete-time linear systems

Authors:
Kyung-Soo Kim;Keun-Ho Rew
Affiliations:
Department of Mechanical Engineering, KAIST, 335 Gwahang-no, Yuseong-gu, Daejeon 305-701, Republic of Korea;Department of Robotics Engineering, Hoseo University, 165 Sechul-li, Baebang-eup, Asan-si, Chungnam 336-795, Republic of Korea
Venue:
Automatica (Journal of IFAC)
Year:
2013

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Abstract

In the paper, an output-based disturbance observer of reduced order is presented for a class of discrete-time linear systems. First, a general form of a disturbance observer is proposed when full states are available. Then, by combining a state function estimator of minimal order, an output-based disturbance observer is derived. The existence condition will be formulated in the form of a static output feedback. Through examples, the effectiveness and advantages of the proposed approach will be demonstrated. A servo control problem in practice is addressed to show the validity of the approach. Furthermore, it will be shown that the proposed approach does provide a smaller order of disturbance observer than that of conventional approaches, while maintaining satisfactory performances.