A nonlinear disturbance observer scheme for discrete time control systems

Authors

MEHMET ÖNDER EFE
COŞKU KASNAKOĞLU

DOI

10.3906/elk-2005-206

Abstract

This paper presents a modification to the original disturbance observer based control (DOBC) scheme byredefining the lowpass filter using a nonlinear element. The proposed technique improves the disturbance predictionperformance for both small and large magnitude disturbance signals. The contribution of the current work is to unfoldthe stability and performance conditions under the proposed modification. A comparative set of simulation studies arediscussed and it is seen that the proposed modification results in smaller disturbance prediction error energy and smallertracking error energy when the plant model is discrete time and uncertain.

Keywords

Discrete time disturbance observer, robust control, nonlinear Q-filter, S-filter

First Page

1044

Last Page

1060

Recommended Citation

EFE, MEHMET ÖNDER and KASNAKOĞLU, COŞKU (2021) "A nonlinear disturbance observer scheme for discrete time control systems," Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 29: No. 2, Article 36. https://doi.org/10.3906/elk-2005-206
Available at: https://journals.tubitak.gov.tr/elektrik/vol29/iss2/36