Disturbance Observer-Based Control Methods and Applications

Due to its abilities to compensate disturbances and uncertainties, disturbance observer based control (DOBC) is regarded as one of the most promising approaches for disturbance-attenuation. One of the first books on DOBC, Disturbance Observer Based Control: Methods and Applications presents novel theory results as well as best practices for applications in motion and process control that have already benefited numerous organizations.Supplying authoritative guidance in the areas of disturbance estimation and compensation for practical engineering systems, the book includes coverage of theoretic methods and practical applications of disturbance estimation and compensation for control systems through a DOBC approach. It considers applications in flight control systems, motion control systems, and process control systems. Supplies an authoritative overview of disturbance observer based control approaches Reports on recent developments in disturbance estimation techniques Considers matched and mismatched disturbance/uncertainty attenuation for DOBC Illustrates applications of the methods covered with detailed engineering case studies Filled with valuable insights gathered over decades of research by the authors, this book provides time- and stress-saving guidance for anyone interested in the theory and method research of DOBC. Using typical engineering examples, the text provides readers with an understanding of recent developments in DOBC as well as the tools required to make the most of this promising approach to disturbance-attenuation.

OVERVIEWOverviewIntroductionMotivations High-Gain Control Integral Control Disturbance Observer-Based Control Basic Framework Frequency Domain Formulation Time Domain Formulation Early History An Overview on Disturbance Estimation Approaches Linear Disturbance Observer Nonlinear Disturbance Observer An Overview of Disturbance Estimation-Based Control Approaches Robustness Performance and Stability Composite Hierarchical Anti-DisturbanceControl Compensation of Mismatched DisturbancesDISTURBANCE ESTIMATION DESIGNLinear Disturbance EstimatorIntroductionFrequency Domain Disturbance Observer Minimum-Phase Case Nonminimum Phase Case Time Domain Disturbance Observer Extended State Observer SummaryBasic Nonfinear Disturbance Observer IntroductionNonlinear Disturbance Observer for Constant Disturbances A Basic Formulation An Enhanced Formulation Nonlinear Disturbance Observer for General Exogenous Disturbances A Basic Formulation An Enhanced Formulation SummaryAdvanced Nonfinear Disturbance Observer IntroductionHigh-Order Disturbance Observer Constant Disturbance Case Ramp Disturbance Case High-Order Disturbance CaseExtended High-Gain State Observer Finite-Time Disturbance ObserverSummaryDISTURBANCE OBSERVER-BASED CONTROL DESIGNDisturbance Observer-Based Control for Nonfinear Systems IntroductionA General Design Framework Nonlinear Disturbance Observer-Based Control (NDOBC) Nonlinear Disturbance Observer Composite Controller Design Example Study SummaryGeneralized Extended State-Observer-Based Control for Systems with Mismatched Uncertainties IntroductionGeneralized Extended-State Observer-Based Control (GESOBC) Composite Control Design Stability and Disturbance Rejection Analysis Case of Measurable States Case of Unmeasurable States Simulation Example Further Discussions Extension to MIMO System Solvability of the Disturbance Compensation Gain Controllable Condition Parameter Design for GESOBC SummaryNonfinear Disturbance Observer-Based Control for Systems with Mismatched Uncertainties IntroductionProblem Formulation Novel Nonlinear Disturbance Observer-Based ControlController Design Stability Analysis Disturbance Attenuation AnalysisApplication to A Nonlinear Missile Longitudinal Dynamics of A Missile System Nonlinear Dynamic Inversion Control Nonlinear Disturbance Observer-Based Robust Control Simulation Studies External Disturbance Rejection Ability Robustness Against Model Uncertainties SummaryNonfinear Disturbance Observer-Based Control for Systems with Arbitrary Disturbance Relative Degrees IntroductionProblem Formulation NDOBC for SISO Nonlinear System with Arbitrary DRD Control Law Design Stability AnalysisNDOBC for MIMO Nonlinear Systems with Arbitrary DRDsControl Law DesignStability AnalysisAn Illustrative Example SummaryLinear/Nonfinear Disturbance Observer-Based Sliding Mode Control for Systems with Mismatched UncertaintiesIntroductionLinear Disturbance Observer-Based Sliding-Mode Control Problems of the Existing SMC Methods Novel SMC Method Based on a Disturbance Observer Control Design Stability Analysis An Illustrative Example Nominal Performance Recovery Chattering Reduction Nonlinear Disturbance Observer-Based Nonsingular Terminal Sliding-Mode Control Problem of the Existing NTSMC Methods Novel NTSMC Method Based on a Finite-Time Disturbance Observer Finite-Time Disturbance ObserverControl Design and Stability AnalysisAn Illustrative Example SummaryAPPLICATION TO PROCESS CONTROL SYSTEMSApplication to Process Control Systems IntroductionSystem Modeling of Level Tank Disturbance Rejection Control Design and ImplementationModel Predictive Control Disturbance Observer-Enhanced Model Predictive ControlControl ImplementationSimulation and Experimental Studies Simulation Results and Analysis Experimental Results and Analysis SummaryDisturbance Rejection for Ball Mill Grinding CircuitsIntroductionProcess Description Process Background Description of Grinding Circuit Control Scheme Multivariable MPC Algorithm Disturbance Observer for Process with Time Delays DOB-MPC Scheme for Ball Mill Grinding CircuitsPerformance Analysis and Comparisons Disturbance Rejection in Nominal Case Disturbance Rejection in Model Mismatch Case SummaryAPPLICATION TO MECHATRONIC SYSTEMSDisturbance Rejection for Magnetic Leviation Suspension System IntroductionProblem FormulationNonlinear MAGLEV Suspension Dynamics Model Linearization Problem Formulation DOBC Design Simulations and Analysis External Disturbance Rejection Performance Robustness Against Load VariationSummaryDisturbance Rejection for Permanent Magnet Synchronous MotorsIntroductionProblem Description Control Strategy The Principle of ESO-Based Control Method Speed Controller Design Current Controller Design Simulation and Experimental Results Simulation Results Experimental Results SummaryAPPLICATION TO FLIGHT CONTROL SYSTEMSDisturbance Rejection for Small-Scale HelicoptersIntroductionHelicopter Modeling Explicit Nonlinear MPC With Disturbances Output Approximation Explicit Nonlinear MPC Solution Disturbance Observer-Based Control Disturbance Observer Composite ControllerStability Analysis Simulation and ExperimentSummaryDisturbance Rejection for Bank-to-Turn Missiles IntroductionPitch/Yaw Dynamic Models of BTT Missiles Disturbance Observers Disturbance Observer-Based Robust Control Feedback Control Design Stability Analysis of Closed-Loop System Design of Disturbance Compensation Gain Simulation Studies External Disturbance Rejection Performance Robustness Against Model Uncertainties SummaryDisturbance Rejection for Airbreathing Hypersonic VehiclesIntroductionProblem Formulation Longitudinal Dynamics of a Generic AHV Problem Formulation Nonlinear Disturbance Observer-Based Robust Flight Control Composite Control Law DesignStability AnalysisSimulation Studies External Disturbance Rejection Robustness Against Parameter UncertaintiesSummaryBibliographyIndex

Shihua Li was born in Pingxiang, Jiangxi Province, China in 1975. He received his bachelor, master, and Ph.D. degrees all in Automatic Control from Southeast University, Nanjing, China in 1995, 1998 and 2001, respectively. Since 2001, he has been with School of Automation, Southeast University, where he is currently a professor. His main research interests include nonlinear control theory with applications to robots, spacecraft, AC motors and other mechanical systems. He’s senior member of IEEE, published over 100 academic papers in journals including Automatica, IEEE Transactions on Automatic Control, IEEE Transactions on Industrial Electronics, International Journal of Systems Science, International Journal of Control, Aerospace Science and Technology, etc.. Jun Yang received his B.S. degree in the Department of Automatic Control from Northeastern University, Shenyang, China in 2006. In 2011, he received the Ph.D. degree in control theory and control engineering from School of Automation, Southeast University, Nanjing, China, where he is currently a lecturer. His research interests include disturbance estimation and compensation, advanced control theory and its application to flight control systems, motion control systems and process control systems. Wen-Hua Chen received his M.S. and Ph.D. degrees from Department of Automatic Control at Northeast University, China, in 1989 and 1991, respectively. From 1991 to 1996, he was a lecturer in Department of Automatic Control at Nanjing University of Aeronautics and Astronautics, China. He held a research position and then a lectureship in control engineering in Centre for Systems and Control at University of Glasgow, UK, from 1997 to 2000. He currently holds a senior lectureship in flight control systems in Department of Aeronautical and Automotive Engineering at Loughborough University, UK. He has published more than 100 articles in journals and conferences. His research interests include the development of advanced control strategies and their applications in aerospace engineering. Xisong Chen received his B.S. degrees from School of Electronic Science and Engineering at Jilin University, China, in 1992. He received his M.S. and Ph.D. degrees from School of Automation at Southeast University, in 2002 and 2009, respectively. Since 2002, he has been with School of Automation, Southeast University, where he is currently a professor. His research interests include advanced control strategies, disturbance attenuation methods and their applications in process control engineering.