Disturbance Observers for Rigid Mechanical Systems: Equivalence, Stability, and Design

[+] Author and Article Information
Erwin Schrijver, Johannes van Dijk

Laboratory of Mechanical Automation, Cornelis J. Drebbel Institute for Systems Engineering, University of Twente, P.O. Box 217, 7500 AE Enschede, The Netherlands

J. Dyn. Sys., Meas., Control 124(4), 539-548 (Dec 16, 2002) (10 pages) doi:10.1115/1.1513570 History: Received July 01, 2001; Revised November 01, 2001; Online December 16, 2002
Copyright © 2002 by ASME
Your Session has timed out. Please sign back in to continue.


Johnson,  C., 1971, “Accommodation of External Disturbances in Linear Regulator and Servomechanism Problems,” IEEE Trans. Autom. Control, 16(6), pp. 635–644.
Profeta,  J., Vogt,  W., and Mickle,  M., 1990, “Disturbance Estimation and Compensation in Linear Systems,” IEEE Trans. Aerosp. Electron. Syst., 26(2), pp. 225–231.
Coelingh, H., Schrijver, E., De Vries, T., and Van Dijk, J., 2000, “Design of Disturbance Observers for the Compensation of Low-Frequency Disturbances,” Proc. of Int. Conf. Motion and Vibration Control (MOVIC) 2000, Sydney, Australia, B. Samali (ed.), pp. 75–80.
Murakami, T., and Ohnishi, K., 1990, “Advanced Motion Control in Mechatronics—A Tutorial,” Special Lecture—Proc. of IEEE Int. Workshop on Intelligent Control, Istanbul, Turkey, 1 , pp. SL9–SL17.
Umeno,  T., and Hori,  Y., 1991, “Robust Speed Control of DC Servomotors Using Modern Two Degrees-of-Freedom Controller Design,” IEEE Trans. Ind. Electron., 38, pp. 363–368.
Lee,  H., and Tomizuka,  M., 1996, “Robust Motion Controller Design for High-Accuracy Positioning Systems,” IEEE Trans. Ind. Electron., 43, pp. 48–55.
Mita,  T., Hirata,  M., Murata,  K., and Zhang,  H., 1998, “h Control Versus Disturbance-Observer-Based Control,” IEEE Trans. Ind. Electron., 45(3), pp. 488–495.
Bickel,  R., and Tomizuka,  M., 1999, “Passivity-Based Versus Disturbance Observer Based Robot Control: Equivalence and Stability,” ASME J. Dyn. Syst., Meas., Control, 121, pp. 41–47.
Ko, R., Halgamuge, S., and Good, M., 1998, “An Improved Feedforward Extension and Disturbance Observer Design in High-Speed and High-Precision Tracking Control,” Proc. of Int. Conf. Motion and Vibration Control (MOVIC), Zürich, Switzerland, 2 , pp. 745–750.
Kempf, C., and Kobayashi, S., 1996, “Discrete-Time Disturbance Observer Design for Systems With Time Delay,” Proc. of Int. Workshop on Advanced Motion Control, 1 , pp. 332–337.
Endo,  S., Kobayashi,  H., Kempf,  C., Kobayashi,  S., Tomizuka,  M., and Hori,  Y., 1996, “Robust Digital Tracking Controller Design for High-Speed Positioning Systems,” Control Eng. Pract., 4(4), pp. 527–536.
Tesfaye,  A., Lee,  H., and Tomizuka,  M., 2000, “A Sensitivity Optimization Approach to Design of a Disturbance Observer in Digital Motion Control Systems,” IEEE/ASME Trans. Mechatronics, 5(1), pp. 32–38.
Hori, Y., Shimura, K., and Tomizuka, M., 1992, “Position/Force Control of Multi-Axis Manipulator Based on the TDOF Robust Servo Controller for Each Joint,” Proc. of American Control Conf., 1 , pp. 753–757.
Doyle, J., Francis, B., and Tannenbaum, A., 1992, Feedback Control Theory, McMillam, New York.
Kempf,  C., and Kobayashi,  S., 1999, “Disturbance Observer and Feedforward Design for a High-Speed Direct-Drive Positioning Table,” IEEE Trans. Control Syst. Technol., 7(5), pp. 513–526.
Francis,  B., and Wonham,  W., 1976, “The Internal Model Principle of Control Theory,” Automatica, 12, pp. 457–465.
Johnson, C., 1976, Theory of Disturbance-Accommodating Controllers, Control and Dynamic Systems, Vol. 12, pp. 387–489.
Hostetter,  G., and Meditch,  J., 1973, “On the Generalization of Observers to Systems With Unmeasurable, Unknown Inputs,” Automatica, 9, pp. 721–724.
Franklin, G., Powell, J., and Emani-Naeini, A., 1994, Feedback Control of Dynamic Systems, Addison Wesley.
Benschop, R., Steinbuch, M., and Bosgra, O., 1995, “Observer for Unknown Inputs and Disturbances: A Survey of Literature,” Nat. Lab. Unclassified Report (RWR-501-RB-95015-rb).
Sadegh,  N., and Horowitz,  R., 1990, “Stability and Robustness Analysis of a Class of Adaptive Controllers for Robotic Manipulators,” Int. J. Robot. Res., 9(3), pp. 74–92.
Slotine,  J., and Li,  W., 1987, “On the Adaptive Control of Robot Manipulators,” Int. J. Robot. Res., 6(3), pp. 44–59.
Ortega,  R., and Spong,  M., 1989, “Adaptive Motion Control of Rigid Robots: A Tutorial,” Automatica, 25(6), pp. 877–888.


Grahic Jump Location
Disturbance estimating filter
Grahic Jump Location
Disturbance observer combined with a controller
Grahic Jump Location
Equivalent form of the disturbance observer
Grahic Jump Location
Feedback interpretation of the disturbance observer
Grahic Jump Location
Unknown input disturbance observer (UIDO)
Grahic Jump Location
Analogy of DEF and UIDO  
Grahic Jump Location
Disturbance observer for a robot manipulator
Grahic Jump Location
Disturbance observer represented in feedback form




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In