年度	2018
全部作者	黃瑞宇,Yu-Xian Chen, Ruei-Yu Huang, Shih-Chung Chang, Yi-Ren Pan, An-Chen Lee
作者類別	2nd Author
論文名稱	A New Framework of Disturbance Observer with Vidyasagar's Structure
期刊名稱	中國機械工程學刊
卷數	39
期數	6
頁碼	619-635
期刊等級	SCI
總頁數	17
發表日期	2018-12-01
摘要	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.
語言	英文