Robust Disturbance Observer for Two-Inertia System

This paper proposes a method for designing disturbance observer (DOB) in vibration suppression control of two-inertia system. The key to a vibration suppression control of two-inertia system is eliminating the effect of vibration modes of the plant. For this purpose, feedback controller is designed to cancel the stable vibration modes of plant. However, this cancellation fails due to model error from parameter variations. In this paper, the DOB is employed to compensate for the effect of parameter variations. The Q-filter of DOB is designed with the following specifications: optimal disturbance suppression performance with restricted cutoff frequency; robust stability of closed-loop system against modeling error between the plant and its nominal model; structural restriction of Q-filter itself such as relative order and internal model order. This paper proposes a systematic and straightforward method to attain the above design specifications using standard H ∞ control framework. Experimental results verify that the proposed DOB can improve the transient response and effectively suppress the vibration and improve external disturbance removing performance as well.