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Disturbance Observer Design for Continuous Systems with Delay
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Dr Ming Tham
Jones RW, Tham MT
Asia-Pacific Journal of Chemical Engineering, (Special Issue on Process Systems Engineering)
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Disturbance observers (DOs), which are popularly used for improving the disturbance rejection capability of mechatronic servo control systems, offer several attractive features that could prove beneficial for process control systems. The tuning is simple and intuitive and they allow independent tuning of disturbance rejection characteristics, which is particularly helpful in situations in which gains need to be tuned on-line. This paper is concerned with examining DO design for continuous-time systems with delay. Two methods for incorporating time delay into traditional DO design are considered, to assess their relative performance, stability, and noise rejection characteristics. The performance of one of these time-delay-based DO approaches is then compared with proportional, integral and derivative (PID) control, designed using a maximum sensitivity approach, on a representative process model. The paper concludes by briefly examining the incorporation of a DO into a two-degrees-of-freedom (2DOF) control structure.
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