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Design of a Low-Order Harmonic Disturbance Observer with Application to a DC Motor Position Control

Author

Listed:
  • In Hyuk Kim

    (Department of Electrical Engineering, Myongji University, Yongin 17058, Korea
    Current address: Hyundai Mobis Co., Yongin 16891, Korea.)

  • Young Ik Son

    (Department of Electrical Engineering, Myongji University, Yongin 17058, Korea)

Abstract

Among various tools implemented to counteract undesired effects of time-varying uncertainties, disturbance observer (DOB)-based controller has gained wide popularity as a result of its flexibility and efficacy. In this paper, a low-order DOB that is capable of compensating for the effects of a biased harmonic disturbance, as well as plant uncertainties is presented. The proposed low-order DOB can asymptotically estimate a harmonic disturbance of known frequency but unknown amplitude and phase, by using measurable output variables. An analysis carried out by using the singular perturbation theory shows that the nominal performance of the system can be recovered from a real uncertain system when the observer gain is sufficiently large. The observer gains that result in the performance recovery of the real uncertain system are obtained from the stability condition of the boundary-layer system. To test the performance of the proposed observer, computer simulations with a numerical example and laboratory experiments using a DC motor system have been carried out. The experimental results show that the proposed low-order DOB-based control scheme can provide enhanced performance.

Suggested Citation

  • In Hyuk Kim & Young Ik Son, 2020. "Design of a Low-Order Harmonic Disturbance Observer with Application to a DC Motor Position Control," Energies, MDPI, vol. 13(5), pages 1-17, February.
    • Handle: RePEc:gam:jeners:v:13:y:2020:i:5:p:1020-:d:324738
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    References listed on IDEAS

    as
    1. Ismi Rosyiana Fitri & Jung-Su Kim & Hwachang Song, 2017. "High-Gain Disturbance Observer-Based Robust Load Frequency Control of Power Systems with Multiple Areas," Energies, MDPI, vol. 10(5), pages 1-21, April.
    2. Kooksun Lee & Jeongju Lee & Juhoon Back & Young Il Lee, 2019. "A Robust Emulation of Mechanical Loads Using a Disturbance-Observer," Energies, MDPI, vol. 12(12), pages 1-14, June.
    3. Yonghun Kim & Hyung-Tae Seo & Seok-Kyoon Kim & Kyung-Soo Kim, 2018. "A Robust Current Controller for Uncertain Permanent Magnet Synchronous Motors with a Performance Recovery Property for Electric Power Steering Applications," Energies, MDPI, vol. 11(5), pages 1-17, May.
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    Cited by:

    1. Nebiyeleul Daniel Amare & Doe Hun Kim & Sun Jick Yang & Young Ik Son, 2021. "Boundary Conditions for Transient and Robust Performance of a Reduced-Order Model-Based State Feedback Controller with PI Observer," Energies, MDPI, vol. 14(10), pages 1-18, May.

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