2021/01/19 by Emre Sarıyıldız, Sariyildiz, Emre
Engineering · Computer Science · #Teleoperation and Haptic Systems #Sensor Technology and Measurement Systems #Adaptive Control of Nonlinear Systems
paper · pdf · doi:10.48550/arxiv.2101.07920
This paper analyses and synthesises the Disturbance Observer (DOb) based\nmotion control systems in the discrete-time domain. By employing Bode Integral\nTheorem, it is shown that continuous-time analysis methods fall-short in\nexplaining the dynamic behaviours of the DOb-based robust motion controllers\nimplemented by computers and microcontrollers. For example, continuous-time\nanalysis methods cannot explain why the robust stability and performance of the\ndigital motion controller deteriorate as the bandwidth of the DOb increases.\nTherefore, unexpected dynamic responses (e.g., poor stability and performance,\nand high-sensitivity to disturbances and noise) may be observed when the\nparameters of the digital robust motion controller are tuned by using\ncontinuous-time synthesis methods in practice. This paper also analytically\nderives the robust stability and performance constraints of the DOb-based\nmotion controllers in the discrete-time domain. The proposed design constraints\nallow one to systematically synthesise a high-performance digital robust motion\ncontroller. The validity of the proposed analysis and synthesis methods are\nverified by simulations.\n