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Robust Disturbance Rejection for a Class of Nonlinear Systems Using Disturbance Observers

[+] Author Affiliations
Ahmed H. El-Shaer

LineStream Technologies, Cleveland, OH

Abdulrahman H. Bajodah

King Abdulaziz University, Jeddah, Saudi Arabia

Paper No. DSCC2013-3783, pp. V003T35A002; 8 pages
  • ASME 2013 Dynamic Systems and Control Conference
  • Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control
  • Palo Alto, California, USA, October 21–23, 2013
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5614-7
  • Copyright © 2013 by ASME


This paper is concerned with disturbance rejection performance in single-input single-output (SISO) nonlinear systems that are described by uncertain linear dynamics and bounded nonlinearities. First, the nonlinear terms are transformed into an equivalent bounded disturbance at the output of a linear system. Then, a disturbance observer (DOB) is added to the closed loop to achieve robust disturbance rejection. The DOB design is formulated as an extended Luenberger observer having internal dynamics with at least an eigenvalue at the origin. The synthesis of a (sub)optimal DOB is carried out by solving multi-objective H sensitivity optimization. The design approach is applied to an inverted pendulum with actuator backlash. Closed loop response shows that tracking performance is indeed greatly enhanced with the DOB.

Copyright © 2013 by ASME



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