| Title |
Design of a Disturbance Observer Using a Second-Order System Plus Dead Time Modeling Technique |
| Authors |
정구종(Jeong, Goo-Jong) ; 손영익(Son, Young-Ik) |
| Keywords |
Disturbance Observer ; Smith Predictor ; Non-minimum Phase ; Time Delay ; PID Control |
| Abstract |
This paper presents a method for designing a robust controller that alleviates disturbance effects and compensates performance degradation owing to the time-delay. Disturbance observer(DOB) approach as a tool of robust control has been widely employed in industry. However, since the Pade approximation of time-delay makes the plant non-minimum phase, the classical DOB cannot be applied directly to the system with time-delay. By using a new DOB structure for non-minimum phase systems together with the Smith Predictor, we propose a new controller for reducing the both effects of disturbance and time-delay. Moreover, the closed-loop system can be made robust against uncertain time-delay with the help of a Pill controller tuning method that is based on a second-order plus dead time modeling technique. |