Year	2018
Authors	Ruei-Yu Huang,Yu-Xian Chen, Shih-Chung Chang, Yi-Ren Pan, An-Chen Lee
Author Type	2nd Author
Paper Title	A New Framework of Disturbance Observer with Vidyasagar's Structure
Journal Title	Journal of the Chinese Society of Mechanical Engineers
Vol.No	39
Issue.No	6
Page(s)	619-635
Level Type	SCI
Total Pages	17
Date of Publication	2018-12-01
Abstract	This paper proposes a novel two degree of freedom (TDOF) control structure: a combination of Vidyasagar's structure (VS) and the doubly coprime factorization based disturbance observer (DCFDOB). The DCFDOB-VS framework is aimed at providing a control structure and design procedure for a MIMO system with good characteristics of disturbance attenuation, tracking, and decoupling property. The structure can deal with stable/unstable and minimum phase/non-minimum phase plants. The advantage of the method is that two parameters can be designed for different purposes, independently. The parameter H stabilizes the system and improves tracking property. Once the parameter H has been designed, then the Q(Y) can be implemented via a parameter Q for rejecting disturbances and improving the system robustness.
Language	English