Causal design of Taylor series approximation in a disturbance observer for a non-minimum phase system

カテゴリ: 研究会(論文単位)

論文No: MEC18013

グループ名: 【D】産業応用部門 メカトロニクス制御研究会

発行日: 2018/09/26

タイトル(英語): Causal design of Taylor series approximation in a disturbance observer for a non-minimum phase system

著者名: 汪 暁柯(東京大学),大西 亘(東京大学),古関 隆章(東京大学)

著者名(英語): xiaoke wang(The university of Tokyo),wataru ohnishi(The university of Tokyo),takafumi koseki(The university of Tokyo)

キーワード: Ｔａｙｌｏｒ　ｓｅｒｉｅｓ近似|外乱オブザーバ|非最小位相系|Taylor series approximation|disturbance observer|non-minimum phase system

要約(日本語): This paper focuses on designing the disturbance observer by Taylor series approximation for a non-minimum phase system. By describing a plant dynamics in discretization form, Taylor series approximation can be applied to derive approximately stable inversion of the plant dynamics, which is required to design a disturbance observer. Appropriate truncation length of the Taylor series is investigated as a trade-off between the accuracy of the approximation and intentionally inserted delay for keeping causality. Finally, the inherent limitation of input current of plant is considered to get an optimal order.

要約(英語): 　This paper focuses on designing the disturbance observer by Taylor series approximation for a non-minimum phase system. By describing a plant dynamics in discretization form, Taylor series approximation can be applied to derive approximately stable inversion of the plant dynamics, which is required to design a disturbance observer. Appropriate truncation length of the Taylor series is investigated as a trade-off between the accuracy of the approximation and intentionally inserted delay for keeping causality. Finally, the inherent limitation of input current of plant is considered to get an optimal order.

原稿種別: 英語

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