Similarities and differences between exosystem-model-based disturbance observer and model error compensator
This paper clarifies the theoretical similarities and differences between the exosystem-model-based disturbance observer and the model error compensator. In 1972, Johnson proposed the exosystem-model-based disturbance observer. This observer is constructed against the augmented system model, which c...
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| Format: | Article |
| Language: | English |
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Taylor & Francis Group
2024-12-01
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| Series: | SICE Journal of Control, Measurement, and System Integration |
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| Online Access: | http://dx.doi.org/10.1080/18824889.2024.2391624 |
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| author | Kana Shikada Noboru Sebe |
| author_facet | Kana Shikada Noboru Sebe |
| author_sort | Kana Shikada |
| collection | DOAJ |
| description | This paper clarifies the theoretical similarities and differences between the exosystem-model-based disturbance observer and the model error compensator. In 1972, Johnson proposed the exosystem-model-based disturbance observer. This observer is constructed against the augmented system model, which consists of nominal plant and disturbance-generating models. Ohnishi et al. proposed to cancel out the effect of uncertainties with its estimated disturbance. Furthermore, in 2013, Okajima et al. proposed the model error compensator, which compensates for the error between the output of the nominal plant model and the measurement outputs of the actual plant. The theoretical differences among these control structures have yet to be fully understood. Therefore, this paper theoretically investigates the relation and shows the superiority of the exosystem-model-based disturbance observer to the model error compensator in its freedom to assign the behavior of the uncontrollable modes. This superiority enables the exosystem-model-based disturbance observer to suppress output fluctuations against uncertainties effectively. This effect is shown by a numerical example. |
| format | Article |
| id | doaj-art-21493ad7811544be9d908105dc024ec4 |
| institution | Kabale University |
| issn | 1884-9970 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | SICE Journal of Control, Measurement, and System Integration |
| spelling | doaj-art-21493ad7811544be9d908105dc024ec42025-02-05T12:46:15ZengTaylor & Francis GroupSICE Journal of Control, Measurement, and System Integration1884-99702024-12-0117110.1080/18824889.2024.23916242391624Similarities and differences between exosystem-model-based disturbance observer and model error compensatorKana Shikada0Noboru Sebe1Kyushu Institute of TechnologyKyushu Institute of TechnologyThis paper clarifies the theoretical similarities and differences between the exosystem-model-based disturbance observer and the model error compensator. In 1972, Johnson proposed the exosystem-model-based disturbance observer. This observer is constructed against the augmented system model, which consists of nominal plant and disturbance-generating models. Ohnishi et al. proposed to cancel out the effect of uncertainties with its estimated disturbance. Furthermore, in 2013, Okajima et al. proposed the model error compensator, which compensates for the error between the output of the nominal plant model and the measurement outputs of the actual plant. The theoretical differences among these control structures have yet to be fully understood. Therefore, this paper theoretically investigates the relation and shows the superiority of the exosystem-model-based disturbance observer to the model error compensator in its freedom to assign the behavior of the uncontrollable modes. This superiority enables the exosystem-model-based disturbance observer to suppress output fluctuations against uncertainties effectively. This effect is shown by a numerical example.http://dx.doi.org/10.1080/18824889.2024.2391624disturbance observermodel error compensatorenhanced internal model controlrobust controlobservers for linear systemstwo-degree-of-freedom control system |
| spellingShingle | Kana Shikada Noboru Sebe Similarities and differences between exosystem-model-based disturbance observer and model error compensator SICE Journal of Control, Measurement, and System Integration disturbance observer model error compensator enhanced internal model control robust control observers for linear systems two-degree-of-freedom control system |
| title | Similarities and differences between exosystem-model-based disturbance observer and model error compensator |
| title_full | Similarities and differences between exosystem-model-based disturbance observer and model error compensator |
| title_fullStr | Similarities and differences between exosystem-model-based disturbance observer and model error compensator |
| title_full_unstemmed | Similarities and differences between exosystem-model-based disturbance observer and model error compensator |
| title_short | Similarities and differences between exosystem-model-based disturbance observer and model error compensator |
| title_sort | similarities and differences between exosystem model based disturbance observer and model error compensator |
| topic | disturbance observer model error compensator enhanced internal model control robust control observers for linear systems two-degree-of-freedom control system |
| url | http://dx.doi.org/10.1080/18824889.2024.2391624 |
| work_keys_str_mv | AT kanashikada similaritiesanddifferencesbetweenexosystemmodelbaseddisturbanceobserverandmodelerrorcompensator AT noborusebe similaritiesanddifferencesbetweenexosystemmodelbaseddisturbanceobserverandmodelerrorcompensator |