Kalman Filter Based Disturbance Observer and an Observation to the Use of Disturbance Estimate

Abstract

It is well known that disturbance observer based control technology is useful to obtain high control performance on variety of mechanical systems. However, we sometimes encounter the involuntary evants. It means that the conventional disturbance observer based controllers often cause noisy or unstable motions. A reason simply comes from the fact that quantization error caused by low resolution of sensors which are mounted on the joints of mehcanical systems disturbs to estimate real disturbance as observation noise. In order to reconsider the distaubance observer based control technique, this paper proves the formation of separation theorem in the case of disturbance observer use, and introduces a design method of disturbance observer based on steady Kalman filter design. Finally, the experimental results of the inverted pendulum's controller design are shown to evaluate the presented control methodology.