Constant and Sinusoidal Disturbance Rejection Using Robust Control
نویسندگان
چکیده
BRIAN D. 0. ANDERSON' KAZUNOBU KURIYAMA TSUTOMU MITA Research School of Information Dept. of Control and Systems Eng. Dept. of Control and Systems Eng. Science and Engineering Tokyo Institute of Technology Tokyo Institute of Technology Australian National University 2-12-1 Oh-okayama, Xeguro-ku 2-12-1 Oh-okayama, Meguro-ku Canberra, ACT0200, AUSTRALIA Tokyo 152, JAP.4N Tokyo 152, JAPAN [email protected] kazu@ctrl . t i tech.ac. jp mi t a0c t r l . t i t ech . a~ . jp
منابع مشابه
An Adaptive Sinusoidal Disturbance Rejection Controller for Single-Input-Single-Output Systems
Abstract: The design of an adaptive sinusoidal disturbance rejection controller for SingleInput-Single-Output (SISO) systems is presented in this paper. Sinusoidal disturbance rejection problems exist in industry applications such as velocity ripples in a CNC milling machine. The controller is first developed based on the Internal Model Principle (IMP) and the polezero placement technique, then...
متن کاملA new approach to active noise and vibration control-part II: the unknown frequency case
This paper presents a new approach to rejection of complex-valued sinusoidal disturbances acting at the output of a discrete-time stable linear plant with unknown and possibly time-varying dynamics. It is assumed that both the instantaneous frequency of the sinusoidal disturbance and its amplitude may be slowly varying with time and that the output signal is contaminated with wideband measureme...
متن کاملAsymptotic rejection of unknown sinusoidal disturbances in nonlinear systems
This paper deals with global disturbance rejection of nonlinear systems. The disturbance is assumed to be sinusoidal with completely unknown phases, amplitude, and frequencies, but the number of distinct frequencies or the order of the corresponding unknown linear exosystem is known. Different from the common structural assumptions of nonlinear systems needed in literature for disturbance rejec...
متن کاملRobust Trajectory Free Model Predictive Control of Biped Robots with Adaptive Gait Length
This paper employs nonlinear disturbance observer (NDO) for robust trajectory-free Nonlinear Model Predictive Control (NMPC) of biped robots. The NDO is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. In contrary to the slow-varying disturbances, handling sudden pushing ...
متن کاملNonlinear Robust Disturbance Rejection
This thesis studies the problem of robust disturbance rejection for nonlinear systems based on three different methods: H∞ control, singular perturbation theory and multiple model adaptive control. Firstly, the disturbance suppression problem for nonlinear systems based on H∞ control is examined. We review the so-called nonstandard mixed sensitivity problem, which introduces an integrator into ...
متن کامل