Abstract
In a disturbance observer (DOB), introduced disturbances are monitored by a plant inverse model and a Q filter compensates the improper inverse model and is designed to stabilize closed loop systems. Therefore, the filter bandwidth is usually trimmed to control the attenuation rate of the disturbance. However, the conventional DOB cannot reduce selective disturbances but only lumped disturbances. To selectively reduce the disturbances, this note proposes a new Q filter design method. Through a mathematical derivation, it is verified that the Q filter design problem belongs to the category of the inverse function design of the introduced disturbance spectrum. Using numerical simulations, it is shown that the proposed method reduces selective disturbances and lumped disturbances.
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