計測不可能な入力の推定機能をもつオブザーバを用いた外乱抑制制御系

摘要

A disturbance observer is well known as a control system which can reduce the adverse effect of disturbances. In order to synthesize the disturbance observer, the exact dynamical model of disturbance is required. However, in general, it is difficult to obtain the exact disturbance model. On the other hand, an observer with a function of estimating unmeasurable inputs has been already proposed. By using this observer, unmeasurable disturbances can be estimated without the exact disturbance model. However, disturbance attenuation problem based on the observer still remains as an open issue. In this paper, a synthesis method of the control system for disturbance attenuation based on an observer with a function of estimating unmeasurable inputs is proposed and the class of compensators which guarantee the internal stability of the closed loop system is clarified.%外乱抑制制御は，制御系に印加される外乱ができるだけ 制御性能に影響を与えないようにするものであり，高機能， 高性能，高精度化が求められる産業機器においては必要不 可欠な制御方策となっている。