Disturbance Observer Design for a Non-minimum Phase System That Is Stabilizable via PID Control

摘要: Since most disturbance observer (DOB) approaches have been limited to minimum-phase systems (or having no zero dynamics), we propose a new DOB structure that can be applied non-minimum phase systems. The features an additional system, which is called as V-filter, whose role yield minimum system when connected with the plant in parallel. In order design V-filter systematically first consider class of linear stabilized via PID controller. By inverting controller's transfer function, simply construct filter. A convenient way designing presented by using iterative matrix inequality (LMI) algorithm. With illustrative example simulation result shows substantial improvement performance has achieved compared control without DOB.