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Disturbance Observers: Methods and Applications. I. Methods

  • nonlinear systems
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Abstract

The survey is devoted to an exposition of the history of development and the current state of theoretical methods for constructing disturbance observers, whose appearance in control theory and practice dates back to the middle of the 1960s and is associated with the expansion of algebraic methods in controller synthesis, the emergence of computer-based synthesis procedures, the need to solve more and more complex problems, and the desire to optimize the control process. The survey describes observers of harmonic disturbances, outlines the internal model principle, considers observers of bounded disturbances, and describes methods for estimating disturbances using auxiliary filters in the form of transfer functions and state observers.

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Notes

  1. The case of unknown parameters of the internal model is considered within the framework of adaptive estimation theory [89, 95, 85, 88, 87, 97, 58, 56, 64].

  2. More precisely, the structure from [103] is identical to the structure from [108], which was chronologically earlier.

  3. We keep the notation used throughout this survey.

  4. It is not clear why in [170] the observer (5.33), (5.34) is called “adaptive”—this is an ordinary linear system with an integral of the output estimation error.

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Authors and Affiliations

  1. Institute for Problems in Mechanical Engineering, Russian Academy of Sciences, St. Petersburg, Russia

    B. R. Andrievsky & I. B. Furtat

  2. St. Petersburg State University, St. Petersburg, Russia

    B. R. Andrievsky

  3. Baltic State Technical University, St. Petersburg, Russia

    B. R. Andrievsky

  4. ITMO University, St. Petersburg, Russia

    I. B. Furtat

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Andrievsky, B., Furtat, I. Disturbance Observers: Methods and Applications. I. Methods. Autom Remote Control 81, 1563–1610 (2020). https://doi.org/10.1134/S0005117920090015

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