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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
doi:10.1115/DSCC2011-6149
From:
  • 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

abstract

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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