CPC G05D 3/12 (2013.01) [G05B 13/02 (2013.01); G05B 13/04 (2013.01); G05B 19/19 (2013.01)] | 5 Claims |
1. A system comprising a robust optimal disturbance observer for high precision position control performed by an electronic device, comprising:
a plant P to be controlled;
a controller C;
a first weight function W1;
a second weight function W2; and
a disturbance observer, wherein
the first weight function W1 receives a difference value between a disturbance w and an output UDO of the disturbance observer as an input value,
the second weight function W2 receives a difference value between an output value of the controller C and the output UDO of the disturbance observer as an input value,
the plant P to be controlled receives, as an input value, a sum value of the disturbance W and the difference value between the output value of the controller C and the output UDO of the disturbance observer, and
the controller C receives an output value of the plant P to be controlled as an input value, wherein
the first weight function W1 is a weight function for minimizing the difference between the applied disturbance wand the output UDO of the disturbance observer based on the frequency characteristics of the plant P to be controlled,
the second weight function W2 is a weight function for controlling the uncertainty of the plant P to be controlled, and
the disturbance observer is formed based on the first weight function W1 and the second weight function W2.
|