In this letter, a synthesis method for semi-strongly stabilizable compensators based on disturbance observers (DOB) for second-order lag systems is proposed. The basic idea is to synthesize the gain of the DOB such that some of the compensator poles are fixed on the imaginary axis, while another can be assigned to the open left half-plane. Usefulness of the proposed method is illustrated by an experimental example showing semi-strong stabilization and disturbance attenuation performance.
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