The disturbance observer (DOB) has been a popular robust control approach for servo enhancement in single-input single-output systems. This paper presents a new extension of the DOB idea to dualand multi-input single-output systems, and discusses an optimal filter design technique for the related loop shaping. The proposed decoupled disturbance observer (DDOB) provides the flexibility to use th...

In this paper we address the problem of augmenting a linear observer with an adaptive element. The design of the adaptive element employs two nonlinearly parameterized neural networks, the input and output layer weights of which are adapted on line. The goal is to improve the performance of the linear observer when applied to a nonlinear system. The networks’ teaching signal is generated using ...

Abstract: The design of an observer based output feedback controller for a class of uniformly observable nonlinear systems with an admissible tracking capability, is proposed. Two fundamental features of the proposed control scheme are worth to be mentioned. The first one consists in the high gain nature of the underlying state feedback control and observer designs. More specifically, a unified...

this paper presents a new control scheme for a class of nonlinear systems. in the proposed method, an adaptive neural network observer with rise feedback controller are applied to realize sensorless control scheme. this observer is tuned online and no exact information of nonlinear term of plant is required. so, this characteristic can compensate mismodeling phenomena. also, a new controller ca...

This paper focuses on the observer-based passive fuzzy controller design problem for uncertain Takagi-Sugeno (T-S) fuzzy models with time-delay and multiplicative noise. For stability analysis and synthesis, the sufficient conditions are derived via Lyapunov-krasovskii function and Itô’s formula in terms of Linear Matrix Inequalities (LMIs). In addition, the passivity theory is employed to disc...

Design of robust observers is considered in the context of linear discrete-time, time invariant systems. Robustness is achieved with respect to polytopic type uncertainties that affect the dynamics of the plant. At the difference with the uncertainty-free situation, state-feedback / observer separation principle does not hold. Therefore, the observer design has to take into account the state-fe...

The disturbance observer (DOB) has been one effective robust control approach for servo enhancement in singleinput-single-output systems. This paper presents a new extension of the DOB idea to dual-input-single-output systems, and discusses an optimal Q-filter design. The proposed decoupled disturbance observer (DDOB) provides a flexible approach to use the most suitable actuators for compensat...