Disturbance Attenuation Based on an Observer with a Function of Estimating Unmeasurable Inputs and Its Application(Mechanical Systems)

Abstract

In order to reduce the adverse effect of disturbance, the exact dynamical model of disturbance must be contained in the closed loop system. However, in general, the control performance deteriorates because of disturbance when the dynamical model of disturbance is unknown. Studies on disturbance attenuation based on an observer with a function of estimating unmeasurable inputs have been developed in recent years. The aim of these studies is to synthesize the compensator which alleviates the bad influence of disturbance without disturbance model. In this paper, the regulation and servo control strategies based on disturbance attenuation are presented, and an application to the 1-mass system is given to show the effectiveness of the proposed methods.