Technical Brief

Simple Input Disturbance Observer Based Control: Case Studies

[+] Author and Article Information
Tomas Poloni

Postdoctoral Research Fellow, Department of Mechanical Engineering, University of Michigan, Ann Arbor, Michigan 48109

Ilya Kolmanovsky

Professor, Department of Aerospace Engineering, University of Michigan, Ann Arbor, Michigan 48109

Boris Rohal-Ilkiv

Professor, Institute of Automation, Measurement and Applied Informatics, Faculty of Mechanical Engineering, Slovak University of Technology, Bratislava, 81231, Slovak Republic

1Corresponding author.

ASME doi:10.1115/1.4037298 History: Received April 06, 2016; Revised June 20, 2017


In this paper, the application of an Input Disturbance Observer-based (IDO) control, based on a simple input observer previously proposed and used for engine control, is demonstrated in two case studies. The first case study is longitudinal aircraft control with unmodeled aerodynamic nonlinearities satisfying matching conditions. The second case study is the control of an inverted pendulum on a cart which corroborates the ease of integration of IDO-based control into more complex controllers in situations when the matching condition is not satisfied. Improved robustness is demonstrated on an experimental system including changing the pendulum weight which is shown to have no effect on the overall control performance. In both case studies if the IDO is not applied the control performance is poor and leads to unstable operation.

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