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    Disturbance Observer-Based Control: Methods and Applications
    Contents
    List of Figures
    List of Tables
    Preface
    Acknowledgments
    The Authors
    Section 1: Overview
    1 An Overview
    1.1 Introduction
    1.2 Motivations
    1.2.1 High-Gain Control
    1.2.2 Integral Control
    1.2.3 Disturbance Observer-Based Control
    1.3 Basic Framework
    1.3.1 Frequency Domain Formulation
    1.3.2 Time Domain Formulation
    1.4 Early History
    1.4.1 An Overview on Disturbance Estimation Approaches
    1.4.1.1 Linear Disturbance Observer
    1.4.1.2 Nonlinear Disturbance Observer
    1.4.2 An Overview of Disturbance Estimation-Based Control Approaches
    1.4.2.1 Robustness Performance and Stability
    1.4.2.2 Composite Hierarchical Anti-Disturbance Control
    1.4.2.3 Compensation of Mismatched Disturbances
    1.5 What Is in This Book
    Section 2: Disturbance Eatimation Design
    2 Linear Disturbance Estimator
    2.1 Introduction
    2.2 Frequency Domain Disturbance Observer
    2.2.1 Minimum-Phase Case
    2.2.2 Nonminimum Phase Case
    2.3 Time Domain Disturbance Observer
    2.4 Extended State Observer
    2.5 Summary
    3 Basic Nonlinear Disturbance Observer
    3.1 Introduction
    3.2 Nonlinear Disturbance Observerfor Constant Disturbances
    3.2.1 A Basic Formulation
    3.2.2 An Enhanced Formulation
    3.3 Nonlinear Disturbance Observer for General Exogenous Disturbances
    3.3.1 A Basic Formulation
    3.3.2 An Enhanced Formulation
    3.4 Summary
    4 Advanced Nonlinear Disturbance Observer
    4.1 Introduction
    4.2 High-Order Disturbance Observer
    4.2.1 Constant Disturbance Case
    4.2.2 Ramp Disturbance Case
    4.2.3 High-Order Disturbance Case
    4.3 Extended High-Gain State Observer
    4.4 Finite-Time Disturbance Observer
    4.5 Summary
    Section 3: Disturbance Observer-Based Control Design
    5 Disturbance Observer-Based Control for Nonlinear Systems
    5.1 Introduction
    5.2 A General Design Framework
    5.3 Nonlinear Disturbance Observer-Based Control (NDOBC)
    5.3.1 Nonlinear Disturbance Observer
    5.3.2 Composite Controller Design
    5.4 Example Study
    5.5 Summary
    6 Generalized Extended State-Observer-Based Control for Systems with Mismatched Uncertainties
    6.1 Introduction
    6.2 Generalized Extended-State Observer-Based Control (GESOBC)
    6.2.1 Composite Control Design
    6.2.2 Stability and Disturbance Rejection Analysis
    6.2.2.1 Case of Measurable States
    6.2.2.2 Case of Unmeasurable States
    6.3 Simulation Example
    6.4 Further Discussions
    6.4.1 Extension to MIMO System
    6.4.1.1 Solvability of the Disturbance Compensation Gain
    6.4.1.2 Controllable Condition
    6.4.2 Parameter Design for GESOBC
    6.5 Summary
    7 Nonlinear Disturbance Observer-Based Control for Systems with Mismatched Uncertainties
    7.1 Introduction
    7.2 Problem Formulation
    7.3 Novel Nonlinear Disturbance Observer-BasedControl
    7.3.1 Controller Design
    7.3.2 Stability Analysis
    7.3.3 Disturbance Attenuation Analysis
    7.4 Application to A Nonlinear Missile
    7.4.1 Longitudinal Dynamics of A Missile System
    7.4.2 Nonlinear Dynamic Inversion Control
    7.4.3 Nonlinear Disturbance Observer-Based Robust Control
    7.4.4 Simulation Studies
    7.4.4.1 External Disturbance Rejection Ability
    7.4.4.2 Robustness Against Model Uncertainties
    7.5 Summary
    8 Nonlinear DisturbanceObserver-Based Controlfor Systems with Arbitrary Disturbance Relative Degrees
    8.1 Introduction
    8.2 Problem Formulation
    8.3 NDOBC for SISO Nonlinear System with Arbitrary DRD
    8.3.1 Control Law Design
    8.3.2 Stability Analysis
    8.4 NDOBC for MIMO Nonlinear Systems with Arbitrary DRDs
    8.4.1 Control Law Design
    8.4.2 Stability Analysis
    8.5 An Illustrative Example
    8.6 Summary
    9 Linear/Nonlinear Disturbance Observer-Based Sliding Mode Control for Systems with Mismatched
    9.1 Introduction
    9.2 Linear Disturbance Observer-Based Sliding-Mode Control
    9.2.1 Problems of the Existing SMC Methods
    9.2.2 Novel SMC Method Based on a Disturbance Observer
    9.2.2.1 Control Design
    9.2.2.2 Stability Analysis
    9.2.3 An Illustrative Example
    9.2.3.1 Nominal Performance Recovery
    9.2.3.2 Chattering Reduction
    9.3 Nonlinear Disturbance Observer-Based Nonsingular Terminal Sliding-Mode Control
    9.3.1 Problem of the Existing NTSMC Methods
    9.3.2 Novel NTSMC Method Based on a Finite-Time Disturbance Observer
    9.3.2.1 Finite-Time Disturbance Observer
    9.3.2.2 Control Design and Stability Analysis
    9.3.3 An Illustrative Example
    9.4 Summary
    Section 4: Application to Process Control Systems
    10 Disturbance Rejection for Typical Level Tank System
    10.1 Introduction
    10.2 System Modeling of Level Tank
    10.3 Disturbance Rejection Control Design and Implementation
    10.3.1 Model Predictive Control
    10.3.2 Disturbance Observer-Enhanced Model Predictive Control
    10.3.3 Control Implementation
    10.4 Simulation and Experimental Studies
    10.4.1 Simulation Results and Analysis
    10.4.2 Experimental Results and Analysis
    10.5 Summary
    11 Disturbance Rejection for Ball Mill Grinding Circuits
    11.1 Introduction
    11.2 Process Description
    11.2.1 Process Background
    11.2.2 Description of Grinding Circuit
    11.3 Control Scheme
    11.3.1 Multivariable MPC Algorithm
    11.3.2 Disturbance Observer for Process with Time Delays
    11.3.3 DOB-MPC Scheme for Ball Mill Grinding Circuits
    11.4 Performance Analysis and Comparisons
    11.4.1 Disturbance Rejection in Nominal Case
    11.4.2 Disturbance Rejection in Model Mismatch Case
    11.5 Summary
    Section 5: Application to Mechatronic Systema
    12 Disturbance Rejection for Magnetic Leviation Suspension System
    12.1 Introduction
    12.2 Problem Formulation
    12.2.1 Nonlinear MAGLEV Suspension Dynamics
    12.2.2 Model Linearization
    12.2.3 Problem Formulation
    12.3 DOBC Design
    12.4 Simulations and Analysis
    12.4.1 External Disturbance Rejection Performance
    12.4.2 Robustness Against Load Variation
    12.5 Summary
    13 Disturbance Rejection for Permanent Magnet Synchronous Motors
    13.1 Introduction
    13.2 Problem Description
    13.3 Control Strategy
    13.3.1 The Principle of ESO-Based Control Method
    13.3.2 Speed Controller Design
    13.3.3 Current Controller Design
    13.4 Simulation and Experimental Results
    13.4.1 Simulation Results
    13.4.2 Experimental Results
    13.5 Summary
    Section 6: Application to Flight Control Systems
    14 Disturbance Rejection for Small-Scale Helicopters
    14.1 Introduction
    14.2 Helicopter Modeling
    14.3 Explicit Nonlinear MPC With Disturbances
    14.3.1 Output Approximation
    14.3.2 Explicit Nonlinear MPC Solution
    14.4 Disturbance Observer-Based Control
    14.4.1 Disturbance Observer
    14.4.2 Composite Controller
    14.5 Stability Analysis
    14.6 Simulation and Experiment
    14.7 Summary
    15 Disturbance Rejection for Bank-to-Turn Missiles
    15.1 Introduction
    15.2 Pitch/Yaw Dynamic Models of BTT Missiles
    15.3 Disturbance Observers
    15.4 Disturbance Observer-Based Robust Control
    15.4.1 Feedback Control Design
    15.4.2 Stability Analysis of Closed-Loop System
    15.4.3 Design of Disturbance Compensation Gain
    15.5 Simulation Studies
    15.5.1 External Disturbance Rejection Performance
    15.5.2 Robustness Against Model Uncertainties
    15.6 Summary
    16 Disturbance Rejection for Airbreathing Hypersonic Vehicles
    16.1 Introduction
    16.2 Problem Formulation
    16.2.1 Longitudinal Dynamics of a Generic AHV
    16.2.2 Problem Formulation
    16.3 Nonlinear Disturbance Observer-Based Robust Flight Control
    16.3.1 Composite Control Law Design
    16.3.2 Stability Analysis
    16.4 Simulation Studies
    16.4.1 External Disturbance Rejection
    16.4.2 Robustness Against Parameter Uncertainties
    16.5 Summary
    References
    Index
    Saunder January 22, 2014 10:3 K15053˙C000 Disturbance Observer-Based Control Methods and Applications
    Saunder January 22, 2014 10:3 K15053˙C000 Disturbance Observer-Based Control Methods and Applications Shihua Li Jun Yang Wen-Hua Chen Xisong Chen
    CRC Press Taylor & Francis Group 6000 Broken Sound Parkway NW, Suite 300 Boca Raton, FL 33487-2742 © 2014 by Taylor & Francis Group, LLC CRC Press is an imprint of Taylor & Francis Group, an Informa business No claim to original U.S. Government works Version Date: 20140117 International Standard Book Number-13: 978-1-4665-1580-2 (eBook - PDF) This book contains information obtained from authentic and highly regarded sources. Reasonable efforts have been made to publish reliable data and information, but the author and publisher cannot assume responsibility for the validity of all materials or the consequences of their use. The authors and publishers have attempted to trace the copyright holders of all material reproduced in this publication and apologize to copyright holders if permission to publish in this form has not been obtained. If any copyright material has not been acknowledged please write and let us know so we may rectify in any future reprint. Except as permitted under U.S. Copyright Law, no part of this book may be reprinted, reproduced, transmit- ted, or utilized in any form by any electronic, mechanical, or other means, now known or hereafter invented, including photocopying, microfilming, and recording, or in any information storage or retrieval system, without written permission from the publishers. For permission to photocopy or use material electronically from this work, please access www.copyright. com (http://www.copyright.com/) or contact the Copyright Clearance Center, Inc. (CCC), 222 Rosewood Drive, Danvers, MA 01923, 978-750-8400. CCC is a not-for-profit organization that provides licenses and registration for a variety of users. For organizations that have been granted a photocopy license by the CCC, a separate system of payment has been arranged. Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identification and explanation without intent to infringe. Visit the Taylor & Francis Web site at http://www.taylorandfrancis.com and the CRC Press Web site at http://www.crcpress.com
    Saunder January 22, 2014 10:3 K15053˙C000 To my wife Xiamei Huang with appreciation and love. Without her durative support behind me, there is no way for me to maintain a stable tracking control toward the desired research target. To my daughter Huangyu (Lisa) Li with love. She always brings me happiness and inspiration. To my parents Heyu Yang and Aiqing Li, my wife Yanan Wei, and my son Haoyu Yang for their endless support and love. Shihua (Sandy) Li To my parents. To my wife and son. Jun Yang Wen-Hua Chen Xisong Chen
    Saunder January 22, 2014 10:3 K15053˙C000 Contents List of Figures............................................................................................... xv List of Tables ............................................................................................... xxi Preface ....................................................................................................... xxiii About the Authors ..................................................................................... xxvii SECTION I OVERVIEW 1.3 1.4 1 Overview.................................................................................................3 1.1 Introduction.......................................................................................3 1.2 Motivations........................................................................................6 1.2.1 High-Gain Control ...............................................................6 1.2.2 Integral Control.....................................................................9 1.2.3 Disturbance Observer-Based Control ..................................11 Basic Framework ..............................................................................14 1.3.1 Frequency Domain Formulation .........................................15 1.3.2 Time Domain Formulation .................................................16 Early History....................................................................................18 An Overview on Disturbance Estimation Approaches..........18 1.4.1 1.4.1.1 Linear Disturbance Observer ............................ 18 1.4.1.2 Nonlinear Disturbance Observer ...................... 19 An Overview of Disturbance Estimation-Based Control Approaches.............................................................20 1.4.2.1 Robustness Performance and Stability............... 20 1.4.2.2 Composite Hierarchical Anti-Disturbance 1.4.2 Control ............................................................ 21 1.4.2.3 Compensation of Mismatched Disturbances..... 21 1.5 What Is in This Book.......................................................................22 vii
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