Observed Robustness of Disturbance-Observers; A Technical Explanation and Simulation Validation

摘要

This paper examines the ability of a real-time 'disturbance-observer' to adapt-to and closely estimate the time-behavior of a disturbance-input w(t) (and of it's state-vector z(t)) even when the actual w(t) time-behavior deviates from the observer's 'internal-copy' of the nominal/predicted w(t)-behavior. By means of technical explanations and confirming simulation studies of numerical examples, the disturbance-observer's adaptive ability is explained in terms-of the underlying spline-model used to derive the disturbance state-model and the intrinsic dynamic characteristics of a state-observer.