Multirate servoing for disturbances which do not satisfy a matching condition

Akira Shimada, Tsuyoshi Takeda, Masanori Fujita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

It is well known that servo controllers with disturbance observers perform to reject real input disturbances, but the disturbances need to satisfy a matching condition. In other words, the controllers with conventional disturbance observers cannot reject disturbances which do not satisfy the condition. It is very important fact but it has often been missed for long periods of time. This paper introduces a multirate sampling disturbance rejection control technique. The controller includes a multirate sampling disturbance observer and the controller performs to reject the disturbance which does not satisfy the matching condition. Its design process is described and a simulation results are shown.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages2184-2189
Number of pages6
DOIs
Publication statusPublished - 2007
Externally publishedYes
EventSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu
Duration: 2007 Sep 172007 Sep 20

Other

OtherSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
CityTakamatsu
Period07/9/1707/9/20

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Keywords

  • Disturbance observerCmultirate control
  • Matching condition
  • Motion control

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Shimada, A., Takeda, T., & Fujita, M. (2007). Multirate servoing for disturbances which do not satisfy a matching condition. In Proceedings of the SICE Annual Conference (pp. 2184-2189). [4421350] https://doi.org/10.1109/SICE.2007.4421350