Time-delay in high-gain observer based disturbance estimation
نویسندگان
چکیده
In this paper, the properties of a high gain observer-based disturbance estimation are analysed, and a time delay calculation approach is proposed for improving the identification of model parameter variation. The focus of this paper is the time delay between the actual disturbance and its estimate in a high gain disturbance estimation observer. It is proved, in this paper, the delay depends on the observer gain, but is independent from the model uncertainties. Thus, a novel algorithm is proposed to calculate the delay according to the phase response of disturbance estimation transfer function. The correctness of this algorithm has been verified by the simulation based on a servo motor model.
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