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.
On the Observed Robustness of Disturbance-Observers; A Technical Explanation and Simulation Validation
Southeastern Symposium on System Theory ; 2008 ; New Orleans, LA, United States
2008-03-16
Conference paper
No indication
English
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