US 11,983,024 B2
System comprising robust optimal disturbance observer for high-precision position control performed by electronic device, and control method therefor
Sang Min Suh, Seoul (KR)
Assigned to GANGNEUNG-WONJU NATIONAL UNIVERSITY INDUSTRY ACADEMY COOPERATION GROUP, Gangneung-si (KR)
Appl. No. 18/037,924
Filed by GANGNEUNG-WONJU NATIONAL UNIVERSITY INDUSTRY ACADEMY COOPERATION GROUP, Gangneung-si (KR)
PCT Filed Nov. 16, 2021, PCT No. PCT/KR2021/016697
§ 371(c)(1), (2) Date May 19, 2023,
PCT Pub. No. WO2022/108287, PCT Pub. Date May 27, 2022.
Claims priority of application No. 10-2020-0156700 (KR), filed on Nov. 20, 2020.
Prior Publication US 2023/0324931 A1, Oct. 12, 2023
Int. Cl. G05D 3/12 (2006.01); G05B 13/02 (2006.01); G05B 13/04 (2006.01); G05B 19/19 (2006.01)
CPC G05D 3/12 (2013.01) [G05B 13/02 (2013.01); G05B 13/04 (2013.01); G05B 19/19 (2013.01)] 5 Claims
OG exemplary drawing
 
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.