A Construction of Disturbance Observer to Cope with Frequency Variation and Its Application to Vibration Suppression Control System

Abstract

In this paper, a synthesis method of new disturbance observer, which can cope with frequency variation, is proposed. The main idea is to synthesize the disturbance observer as a gain-scheduled controller. The proposed disturbance observer gives the same low sensitivity property for disturbances with frequency variation as the conventional disturbance observer does. As an application, we consider vibration suppression control system for a flexible beam with multiple vibration modes. By numerical simulations and experiments, the proposed control scheme is shown superior to the conventional disturbance observer with respect to vibration suppression as compared.