An iterative data-based approach to disturbance observer sensitivity shaping

摘要

The disturbance observer (DOB) is widely used in high precision motion control applications as an effective means of rejecting disturbances. DOB design essentially boils down to the design of the Q filter. In traditional DOB design, the Q filter follows a standard form such as the Butterworth or binomial, where the bandwidth is the only tunable parameter. In this paper, we employ a more general form of Q filter, and tune the parameters iteratively using a data-based approach according to some design criterion. Simulation results show that the data-based design achieve improved disturbance rejection in low frequency region while the high frequency noise attenuation and robust stability is not compromised.