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On Robust Disturbance Observer Design Using Semi-Definite Programming

[+] Author Affiliations
Ahmed H. El-Shaer, Tao Zhang

Samsung Research and Development (SISA), San Jose, CA

Mohammad Al Janaideh

The University of Jordan, Amman, Jordan

Paper No. DSCC2011-6149, pp. 605-611; 7 pages
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5475-4
  • Copyright © 2011 by ASME


This paper is concerned with optimal synthesis of disturbance observers guaranteeing closed loop robust tracking and disturbance rejection performance. The approach presented makes use of internal model-based estimation of exogenous disturbances, where the internal model dynamics is chosen with at least one of its eigenvalues at the origin. The synthesis is then formulated as an H∞ weighted-sensitivity optimization for static output feedback (SOF) gain of a Luenberger observer. A linearization method is then implemented to solve the bilinear-matrix-inequality (BMI) constrained semi-definite program (SDP) for a (sub)optimal static gain.

Copyright © 2011 by ASME



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