This paper examines the ability of a real-time 'disturbance-observer' to adapt-to and closely estimate the time-behavior of a disturbance-input w(t) (and of it's state-vector z(t)) even when the actual w(t) time-behavior deviates from the observer's 'internal-copy' of the nominal/predicted w(t)-behavior. By means of technical explanations and confirming simulation studies of numerical examples, the disturbance-observer's adaptive ability is explained in terms-of the underlying spline-model used to derive the disturbance state-model and the intrinsic dynamic characteristics of a state-observer.


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    Title :

    Observed Robustness of Disturbance-Observers; A Technical Explanation and Simulation Validation


    Contributors:

    Publication date :

    2008


    Size :

    6 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English





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