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Technical Brief

Simple Input Disturbance Observer-Based Control: Case Studies

[+] Author and Article Information
Tomáš Polóni

Department of Mechanical Engineering,
University of Michigan,
Ann Arbor, MI 48109;
Institute of Automation,
Measurement and Applied Informatics,
Faculty of Mechanical Engineering,
Slovak University of Technology,
Bratislava 81231, Slovakia
e-mails: tpoloni@umich.edu; tomas.poloni@stuba.sk

Ilya Kolmanovsky

Professor
Department of Aerospace Engineering,
University of Michigan,
Ann Arbor, MI 48109
e-mail: ilya@umich.edu

Boris Rohaľ-Ilkiv

Professor
Institute of Automation,
Measurement and Applied Informatics,
Faculty of Mechanical Engineering,
Slovak University of Technology,
Bratislava 81231, Slovakia
e-mail: boris.rohal-ilkiv@stuba.sk

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received April 6, 2016; final manuscript received June 20, 2017; published online September 8, 2017. Assoc. Editor: Junmin Wang.

J. Dyn. Sys., Meas., Control 140(1), 014501 (Sep 08, 2017) (8 pages) Paper No: DS-16-1175; doi: 10.1115/1.4037298 History: Received April 06, 2016; Revised June 20, 2017

In this paper, the application of an input disturbance observer (IDO)-based 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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Figures

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Fig. 1

Aircraft response; a—compensation off, b—compensation on, and c—set-point

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Fig. 2

Elevator command and disturbance estimation: a—compensation off and b—compensation on

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Fig. 3

Test bench of inverted pendulum

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Fig. 4

Schematics of inverted pendulum system

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Fig. 5

Control scheme of inverted pendulum system where the term 1/p stands for integration

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Fig. 6

Eigenvalues of linearized closed-loop system in unstable equilibrium for different input observer gains γ. Zoomed plot focuses on eigenvalues close to origin.

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Fig. 7

The time histories of the position and speed of the cart

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Fig. 8

The time histories of the position and speed of the pendulum

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Fig. 9

The time histories of the estimated disturbance

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Fig. 10

The time histories of the linear acceleration of the cart computed by the controller

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Fig. 11

Time histories of the angular speed set-point for the stepper motor

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Fig. 12

The time histories of the position and speed of the cart with unknown weight attached to the pendulum

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Fig. 13

The time histories of the position and speed of the pendulum with unknown weight attached to the pendulum

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Fig. 14

The time histories of the estimated disturbance where the unknown weight is attached to the pendulum

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Fig. 15

The time histories of the linear acceleration of the cart computed by the controller

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Fig. 16

Time histories of the angular speed set-point for the stepper motor

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Fig. 18

Frequency response of cart position to angular speed set-point ui

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