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This paper proposes a novel robust output feedback controller for an electromechanical system in the presence of external disturbance and uncertainties of physical parameters. By exploiting the cascade features of backstepping design, a simple disturbance observer is proposed to suppress the effects of the uncertainties, and a high-gain observer is applied to estimate the unmeasureable states of the...
This paper proposes a new method of decentralized robust control for large-scale interconnected uncertain nonlinear mechanical systems, by using disturbance observers (DOBs). Rigorous stability analysis is given for the overall nonlinear system. Simulation results on a coupled double pendulum system are presented to confirm the established theoretical results.
This paper considers the control problem of a popular magnetic levitation system, which is open-loop unstable and strongly nonlinear associated with the electromechanical dynamics. The system dynamics is governed by a third-order nonlinear differential equation. The overall controller is designed through a backstepping manner by combining both the robust control and disturbance observer techniques...
In this paper, a novel robust nonlinear motion controller with disturbance observer (DOB) for positioning control of a nonlinear single-input-single-output (SISO) mechanical system is proposed. The controller is designed in a backstepping manner. At the first step, a PI controller is designed to stabilize the position error. Then at the second step, a novel robust nonlinear velocity controller with...
In this paper, a novel robust nonlinear motion controller with disturbance observer (DOB) for positioning control of a nonlinear single-input-single-output (SISO) mechanical system is proposed. The controller is designed in a backstepping manner. At the first step, a PI controller is designed to stabilize the position error. Then at the second step, a novel robust nonlinear velocity controller with...
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