Abstract
Asymptotic tracking of a reference model and nonlinear disturbance rejection are two of the most important attributes of an effective control system. A DOB-based controller, which is designed based on an augmented system model including the disturbance dynamics, relies mainly on the disturbance estimation to provide robust reference tracking performance. While IMP-based controller design technique achieves the same result by including a dynamic model of the reference and disturbance in the control system model. However, the similarity of these two control techniques extends beyond basic design consideration. This paper presents an analytical study that reaches an equivalent condition between the two classes of controllers for a DC motor speed control problem. Based on the obtained condition, it is proposed that the DOB-based controller can be designed such that it shows the same performance as the IMP-based controller. This has been further verified through a simulation which shows the same robust performance in both cases.
Published Version
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