Performance Recovery of Feedback-Linearization-Based Designs

Extended High-Gain Observers as Disturbance Estimators

“…Section 3 presents the results of [4] on the use of extended high-gain observers to recover the performance of feedback-linearization controllers in the presence of uncertainties. Section 4 presents the results of [5], which extends the results [4] to multi-input-multi-output systems.…”

Robust Position Control of One DOF Mechanical Systems Using Dual PIOs Without Velocity Measurement

“…. In many mechanical and electromechanical applications, a slowly varying disturbance is approximated by a constant [11][12][13]. For the performance analysis of the PIO, we need the following assumption [2,10,12,13,19].…”

“…In order to cope with adverse effects of the uncertainties, efficient controller design has been a central issue in control society [1,2]. As a tool for disturbance attenuation, disturbance observerbased control (DOBC) has been widely employed because of its powerful ability to attenuate disturbances and compensate plant uncertainties [3][4][5][6][7][8][9][10][11][12].…”

“…Among the disturbance observer approaches, the use of observers to estimate an equivalent lumped disturbance is widespread [10][11][12][13][14][15][16]. The main idea is to view the disturbance input as an additional state variable and augment it with the plant.…”

“…DOBC is a two-stage design process, that is, a baseline controller is designed first followed by a feedforward compensator incorporating the estimate from a disturbance observer [11]. This paper adopts the backstepping control (BC) in the first stage as a baseline controller [1].…”