비최소위상 외란관측기 제어기의 도립진자 적용에 관한 연구

Abstract

Due to powerful ability of disturbance attenuation and uncertainty compensation, the disturbance observer (DOB) controller has been widely employed in control industries. But, it is well known that it is not easy to design conventional DOB controllers for non-minimum phase systems. In this paper, we design a non-minimum DOB controller to achieve high performance control for inverted pendulum system. It is shown via simulation studies that disturbance attenuation performance can be substantially improved by the application of non-minimum phase DOB controller. Since the derived DOB controller may have very high order, it is suggested that model reduction technique can be used for the design of DOB controller. It is shown that the order of DOB controller can be decreased without degrading the system performance significantly.