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An H∞ Design of Disturbance Observer for a Class of Linear Time-invariant Single-input/Single-output Systems

Hyung-Tae Seo, Soohyun Kim, and Kyung-Soo Kim*
International Journal of Control, Automation, and Systems, vol. 18, no. 7, pp.1662-1670, 2020

Abstract : In the paper, a generalized H∞ framework for design of a disturbance observer (DOB) is newly presented for a class of linear time-invariant single-input/single-output systems. Motivated by the systematic synthesis of a stabilizing controller through the H∞ optimization, we formulate the DOB design method into an H∞ design problem with weighting functions in the frequency domain. Thanks to its generality, the proposed method can be consistently applied either to the unstable systems or the non-minimum phase systems. Through the examples, the efficacy of the method is validated.

Keyword : Disturbance observer, H∞ optimization problem, linear fractional transformation, stabilizing scaling

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