Disturbance Observer-Based Control : Methods and Applications book cover
1st Edition

Disturbance Observer-Based Control
Methods and Applications

ISBN 9781138199989
Published October 12, 2017 by CRC Press
340 Pages 115 B/W Illustrations

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Book Description

Due to its abilities to compensate disturbances and uncertainties, disturbance observer based control (DOBC) is regarded as one of the most promising approaches for disturbance-attenuation. One of the first books on DOBC, Disturbance Observer Based Control: Methods and Applications presents novel theory results as well as best practices for applications in motion and process control that have already benefited numerous organizations.

Supplying authoritative guidance in the areas of disturbance estimation and compensation for practical engineering systems, the book includes coverage of theoretic methods and practical applications of disturbance estimation and compensation for control systems through a DOBC approach. It considers applications in flight control systems, motion control systems, and process control systems.

  • Supplies an authoritative overview of disturbance observer based control approaches
  • Reports on recent developments in disturbance estimation techniques
  • Considers matched and mismatched disturbance/uncertainty attenuation for DOBC
  • Illustrates applications of the methods covered with detailed engineering case studies

Filled with valuable insights gathered over decades of research by the authors, this book provides time- and stress-saving guidance for anyone interested in the theory and method research of DOBC. Using typical engineering examples, the text provides readers with an understanding of recent developments in DOBC as well as the tools required to make the most of this promising approach to disturbance-attenuation.

Table of Contents


     High-Gain Control 
     Integral Control
     Disturbance Observer-Based Control
Basic Framework 
     Frequency Domain Formulation 
     Time Domain Formulation
Early History
     An Overview on Disturbance Estimation Approaches
          Linear Disturbance Observer 
          Nonlinear Disturbance Observer
     An Overview of Disturbance Estimation-Based Control Approaches
          Robustness Performance and Stability
          Composite Hierarchical Anti-DisturbanceControl 
          Compensation of Mismatched Disturbances


Linear Disturbance Estimator
Frequency Domain Disturbance Observer
     Minimum-Phase Case 
     Nonminimum Phase Case
Time Domain Disturbance Observer
Extended State Observer

Basic Nonfinear Disturbance Observer
Nonlinear Disturbance Observer for Constant Disturbances 
      A Basic Formulation 
     An Enhanced Formulation
Nonlinear Disturbance Observer for General Exogenous Disturbances 
     A Basic Formulation 
     An Enhanced Formulation

Advanced Nonfinear Disturbance Observer
High-Order Disturbance Observer
     Constant Disturbance Case 
     Ramp Disturbance Case 
     High-Order Disturbance Case
Extended High-Gain State Observer
Finite-Time Disturbance Observer


Disturbance Observer-Based Control for Nonfinear Systems
A General Design Framework
Nonlinear Disturbance Observer-Based Control (NDOBC) 
     Nonlinear Disturbance Observer 
     Composite Controller Design
Example Study

Generalized Extended State-Observer-Based Control for Systems with Mismatched Uncertainties
Generalized Extended-State Observer-Based Control (GESOBC)
          Composite Control Design
     Stability and Disturbance Rejection Analysis 
          Case of Measurable States 
          Case of Unmeasurable States
Simulation Example
Further Discussions
     Extension to MIMO System
          Solvability of the Disturbance Compensation Gain
          Controllable Condition 
     Parameter Design for GESOBC

Nonfinear Disturbance Observer-Based Control for Systems with Mismatched Uncertainties
Problem Formulation
Novel Nonlinear Disturbance Observer-Based Control 
     Controller Design
     Stability Analysis
     Disturbance Attenuation Analysis
Application to A Nonlinear Missile 
     Longitudinal Dynamics of A Missile System
     Nonlinear Dynamic Inversion Control 
     Nonlinear Disturbance Observer-Based Robust Control 
     Simulation Studies
          External Disturbance Rejection Ability 
          Robustness Against Model Uncertainties

Nonfinear Disturbance Observer-Based Control for Systems with Arbitrary Disturbance Relative Degrees
Problem Formulation
NDOBC for SISO Nonlinear System with Arbitrary DRD
     Control Law Design 
     Stability Analysis
NDOBC for MIMO Nonlinear Systems with Arbitrary DRDs
     Control Law Design 
     Stability Analysis
An Illustrative Example

Linear/Nonfinear Disturbance Observer-Based Sliding Mode Control for Systems with Mismatched Uncertainties
Linear Disturbance Observer-Based Sliding-Mode Control
     Problems of the Existing SMC Methods
     Novel SMC Method Based on a Disturbance Observer 
          Control Design
          Stability Analysis
     An Illustrative Example 
          Nominal Performance Recovery 
          Chattering Reduction
Nonlinear Disturbance Observer-Based Nonsingular Terminal Sliding-Mode Control
     Problem of the Existing NTSMC Methods 
     Novel NTSMC Method Based on a Finite-Time Disturbance Observer 
          Finite-Time Disturbance Observer 
          Control Design and Stability Analysis
     An Illustrative Example


Application to Process Control Systems
System Modeling of Level Tank
Disturbance Rejection Control Design and Implementation 
     Model Predictive Control 
     Disturbance Observer-Enhanced Model Predictive Control
     Control Implementation
Simulation and Experimental Studies
     Simulation Results and Analysis
     Experimental Results and Analysis 

Disturbance Rejection for Ball Mill Grinding Circuits
Process Description 
     Process Background
     Description of Grinding Circuit
Control Scheme 
     Multivariable MPC Algorithm 
     Disturbance Observer for Process with Time Delays
     DOB-MPC Scheme for Ball Mill Grinding Circuits
Performance Analysis and Comparisons 
     Disturbance Rejection in Nominal Case 
     Disturbance Rejection in Model Mismatch Case


Disturbance Rejection for Magnetic Leviation Suspension System
Problem Formulation 
     Nonlinear MAGLEV Suspension Dynamics
     Model Linearization 
     Problem Formulation
DOBC Design
Simulations and Analysis 
     External Disturbance Rejection Performance
     Robustness Against Load Variation

Disturbance Rejection for Permanent Magnet Synchronous Motors
Problem Description
Control Strategy
     The Principle of ESO-Based Control Method 
     Speed Controller Design
     Current Controller Design
Simulation and Experimental Results 
     Simulation Results
     Experimental Results


Disturbance Rejection for Small-Scale Helicopters
Helicopter Modeling
Explicit Nonlinear MPC With Disturbances
     Output Approximation
     Explicit Nonlinear MPC Solution
Disturbance Observer-Based Control 
     Disturbance Observer 
     Composite Controller
Stability Analysis
Simulation and Experiment

Disturbance Rejection for Bank-to-Turn Missiles
Pitch/Yaw Dynamic Models of BTT Missiles
Disturbance Observers
Disturbance Observer-Based Robust Control 
     Feedback Control Design 
     Stability Analysis of Closed-Loop System 
     Design of Disturbance Compensation Gain
Simulation Studies 
     External Disturbance Rejection Performance
     Robustness Against Model Uncertainties

Disturbance Rejection for Airbreathing Hypersonic Vehicles
Problem Formulation 
      Longitudinal Dynamics of a Generic AHV
     Problem Formulation
Nonlinear Disturbance Observer-Based Robust Flight Control 
     Composite Control Law Design 
     Stability Analysis
Simulation Studies
     External Disturbance Rejection 
     Robustness Against Parameter Uncertainties


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Shihua Li was born in Pingxiang, Jiangxi Province, China in 1975. He received his bachelor, master, and Ph.D. degrees all in Automatic Control from Southeast University, Nanjing, China in 1995, 1998 and 2001, respectively. Since 2001, he has been with School of Automation, Southeast University, where he is currently a professor. His main research interests include nonlinear control theory with applications to robots, spacecraft, AC motors and other mechanical systems. He’s senior member of IEEE, published over 100 academic papers in journals including Automatica, IEEE Transactions on Automatic Control, IEEE Transactions on Industrial Electronics, International Journal of Systems Science, International Journal of Control, Aerospace Science and Technology, etc..

Jun Yang received his B.S. degree in the Department of Automatic Control from Northeastern University, Shenyang, China in 2006. In 2011, he received the Ph.D. degree in control theory and control engineering from School of Automation, Southeast University, Nanjing, China, where he is currently a lecturer. His research interests include disturbance estimation and compensation, advanced control theory and its application to flight control systems, motion control systems and process control systems.

Wen-Hua Chen received his M.S. and Ph.D. degrees from Department of Automatic Control at Northeast University, China, in 1989 and 1991, respectively. From 1991 to 1996, he was a lecturer in Department of Automatic Control at Nanjing University of Aeronautics and Astronautics, China. He held a research position and then a lectureship in control engineering in Centre for Systems and Control at University of Glasgow, UK, from 1997 to 2000. He currently holds a senior lectureship in flight control systems in Department of Aeronautical and Automotive Engineering at Loughborough University, UK. He has published more than 100 articles in journals and conferences. His research interests include the development of advanced control strategies and their applications in aerospace engineering.

Xisong Chen received his B.S. degrees from School of Electronic Science and Engineering at Jilin University, China, in 1992. He received his M.S. and Ph.D. degrees from School of Automation at Southeast University, in 2002 and 2009, respectively. Since 2002, he has been with School of Automation, Southeast University, where he is currently a professor. His research interests include advanced control strategies, disturbance attenuation methods and their applications in process control engineering.