Frequency response data based disturbance observer design applicable to non-minimum phase systems

Disturbance observer (DOB) has been widely used in industrial field due to it's simplicity and effectiveness in rejecting disturbance. The performance of disturbance observer is greatly influenced by the bandwidth of low pass filter (Q filter). This paper proposes a novel way for optimizing bandwidth of Q filter by considering experimentally obtained frequency response data (FRD) of plant. By transforming all the nonliner constraints into convex constraints, the convex optimisation method can be employed to solve this problem easily. The simulation results verified the feasibility of proposed method and demonstrated that the optimized Q filter can gurantee the disturbance rejection performance.

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