METHOD AND APPARATUS FOR CONTROLLING FIRST-ORDER SYSTEM USING EXTENDED DISTURBANCE OBSERVER

摘要

Provided are a method and an apparatus for controlling a primary system by using an expanded disturbance observer. An apparatus for controlling a system according to an embodiment of the present invention includes: a disturbance observer for calculating an estimated disturbance of the system when an output of the system and a control input to the system are applied and compensating for the control input; and a target tracking controller for calculating a target tracking input such that an error between a reference input and an output of the system employing the compensated control input is converged to 0. The disturbance observer has a biased trigonometric function model of the disturbance, and a numerator of a disturbance estimation error corresponding to the difference between the actual disturbance of the system and the estimated disturbance is the same as a denominator of an equation obtained by modeling the disturbance.;COPYRIGHT KIPO 2017