Improvement of Disturbance Rejection Performance by Equivalent Input Disturbance Estimation

Jin-Hua SHE; Yasuhiro OHYAMA; Hiroyuki KOBAYASHI; Xin XIN

doi:10.9746/sicetr1965.41.797

Jin-Hua SHE, Yasuhiro OHYAMA, Hiroyuki KOBAYASHI, Xin XIN

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Keywords: disturbance estimation, disturbance rejection, equivalent input disturbance, servo system, perfect regulation

JOURNAL FREE ACCESS

2005 Volume 41 Issue 10 Pages 797-802

DOI https://doi.org/10.9746/sicetr1965.41.797

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Abstract

This paper presents a new method of improving the disturbance rejection performance of a servo system by estimating an equivalent input disturbance. First, the concept of equivalent input disturbance is defined. Next, the configuration of an improved servo system employing the new disturbance estimation method is described. Then, a method of designing a control law employing the disturbance estimate is explained. Finally, the positioning control of a two-finger robot hand is used to demonstrate the validity of the method.

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