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Proceedings of the American Control Conference

Chicago, fllinois June 2000


Discrete-Time Robust Tracking Control
Using A State Space Disturbance Observer
Seung-Hi Lee, Young-Hoon Kim, Sang-Eun Baek
Electro-mechanics Lab. Samsung Advanced Institute of Technology
P.O.Box 111, Suwon 440-600, KOREA
shl , younghoon, sebaek@sait.samsung.co.kr
Abstract for high frequency sensor noise rejection. Thus, the Q
filter can be interpreted as a complementary sensitivity
function of the feedback loop. For further information,
the interested readers are referred to [3][4] and refer-
ences therein.
This paper considers desigll of a discrete-time robust
tracking control system which consists of a state space
disturbance observer, a state estimator, and a state
feedback controller. A new discrete-time state space
disturbance observer is proposed not requiring model-
ing of disturbances. Through the results of applica-
tions, i t is shown that the proposed method is very
effective to compensate variety of disturbances and to
improve the performance of a tracking control system
in the existence of external disturbances. I t is also ob-
served that the proposed state space disturbance ob-
server allows more accurate state estimation in the ex-
istence of modeling error and disturbances.
1 Introduction
External disturbances have significant impact on the
performance of a tracking controller. Accordingly,
there has been much work on the problem of reject-
ing the disturbances effectively. Modeling errors in
th design of control systems can also cause tracking
error. Modeling errors include unmodeled dynamics,
which represent high order flexible modes, as well as
plant parameter uncertainties/variations during oper-
ation. The difference between the output of the plant
and the output of the nominal model is regarded as an
equivalent disturbance applied to the nominal model.
Disturbance observers are used to estimate the equiva-
lent disturbances. Thus, a disturbance observer can be
used to make the plant behave like the nominal model
in the existence of the equivalent disturbances.
In [3], the idea of a disturbance observer was pro-
posed. In [4], the disturbance observer theory was re-
fined based on the design of two degrees of freedom sevo
controllers and the factorization approach. The design
of a disturbance observer is dependent on the design of
so called the Q filter, which determines robustness and
disturbance rejection performance. In the design of the
Q filter, unit low frequency gain is required for distur-
bance rejection, while high frequency roll-off is required
0-7803-551 9-9/00 $1 0.00 0 2000 AACC 41 94
Conventional approach in the design of state space dis-
turbance observers is to model disturbances and to aug-
ment it into the estimator model (e.g. bias and period-
ical disturbance [l]). However, it is in general impossi-
ble to build models for arbitrary disturbances. There-
fore, state space disturbance observers are hardly used
except for simple disturbances which can be modeled
easily.
This paper considers design of a discrete-time robust
tracking control system which consists of a state space
disturbance observer, a state estimator, and a state
feedback controller. In this paper, we propose a new
discrete-time state space disturbance observer not re-
quiring modeling of disturbances. An application ex-
ample is presented to show applicability and effective-
ness of the proposed disturbance observation method.
Throughout the paper, a transfer matrix in terms of
state-space is denoted by
p ( M) denotes the spectral radius of a matrix M. I t is
assumed that all the vectors and matrices have appro-
priate dimensions.
2 Problem Statement
To begin with, consider a continuous-time model of a
plant described by
(1)
x =A,x+B,u+w
y =C, x+n
where w is the disturbance and n is the measurement
noise, A, , B, and C, are matrices with appropriate
dimensions. I t is assumed that ( Ap, Bp, C,) is stabiliz-
able and detectable. In addition, we assume the dis-
turbance w is bounded. However, no time/frequency
characteristics of w are assumed.
Performance of a control system is significantly affected
by disturbances. Thus, it is very important to reject
the disturbance effectively. As mentioned before, the
transfer function approach has many drawbacks. It
requires filtering of output measurements. Thus, the
performance of the disturbance observer is determined
by the Q filter. In addition, the transfer function ap-
proach can not be used in the multi-input-multi-output
(MIMO) cases, while the state space approach can
be. In the state space approach, specific disturbance
models are augmented in the estimator model to esti-
mate the disturbances. The models are developed from
the timelfrequency characteristics of disturbances (for
example, constant bias and periodic disturbance) [l].
When the time/frequency characteristics of the dis-
turbance are unknown, the assumption of piece-wise
constant bias is used with sufficiently fast eigenvalue
assignment to the states associated the disturbance.
However, fast varying disturbances can not be observed
effectively by this approach. In addition, performance
of a state estimator can be affected.
It should be noted that even a well designed distur-
bance observer can not compensate disturbances per-
fectly. In this paper, the remaining disturbance is re-
garded as a residual disturbance. This residual distur-
bance is considered as an exogenous signal in the design
of a controller. Thus, the disturbance observer is to be
designed to suppress the equivalent disturbance, while
the controller is to be designed such that the feedback
loop is less sensitive to the residual disturbance.
3 Control System Design
In this section, wedesign a discrete-time control system
which consists of a state space disturbance observer, a
current state estimator, and a state feedback controller.
Firstly, the concept of the new state space disturbance
observer is introduced. Subsequently, assuming that
the disturbance observer is working properly, wedesign
a state estimator and a state feedback controller for
the system with the residual disturbance. Finally, we
design a disturbance observer to compensate equivalent
disturbances and to make the closed loop system stable.
3.1 Di screte Time Model
TO begin with, consider a discrete-time model described
bY
Gm =[*]
41 95
where
and T, is the sampling period. Here, (@,I',C) is as-
sumed to be stabilizable and detectable. For the sim-
plicity of formulation weassume no computation time
delay. However, the time delay can be handled eas-
ily by augmenting the delayed control as an additional
state [I].
3.2 New State Space Di sturbance Observer
The basic structure of the proposed state space distur-
bance observer (shown in Figure 1) is expressed by
where % is the state of the model, z is the state of
the plant, Kdist is the disturbance observer gain to be
determined. If all the state measurements are not avail-
able, we use the estimated states ?. In this case, we
use
udist(k) =Kdzst(e(k) - ?(k)). (4)
Udi st
Plant
Fi gure 1: Disturbance observer scheme
The disturbance observer gain Kdist determines the
convergence rate to the disturbance w and affects the
stability of the feedback loop. A condition for proper
gain &ist will be addressed in Disturbance Observer
Design subsection. Not like the transfer function a p
proach in the s domain, there is nothing like the Q fil-
ter. Thus, there is no additional dynamics associated
with the disturbance observer itself.
Given the states 3 and 2, no additional dynamics com-
putation is required to observe the disturbance. The
states 3 and 2 are to be obtained froma state esti-
mator which is to be addressed in the next subsection.
The disturbance observation zLdist ( k ) is injected into
the feedback control loop (as shown in Figure 2) to
compensate disturbances. As a result, wehave a ficti-
tious system in which only the residual disturbance is
acting on (as shown in Figure 3). Wedesign a state es-
timator and a state feedback controller for this system
in the following subsections.
W n
Figure 2: Control system with disturbance observer
d n
Figure 3: System for controller design
3.3 State Estimator Design
The current state estimator [l] is expressed by
( 5.)
i ( k ) =f ( k ) +L,(y(k) - Cz ( k) )
q k +1) =dri ( l c) +rzL(Ic)
where y is the output measurement, 2 and f are the,
state update and the state prediction, respectively.
Although the time/frequency characteristics of the
residual disturbance is unknown, it is reasonable to as-
sume that the residual disturbance is bounded. Con-
sidering this fact, wedesign a current state estimator
in the 'H2 point of view. The current estimator gain
L, that minimizes the estimation error in the 'H2 sense
with given weightings can be obtained by solving the
discrete algebraic Riccati equation (DARE)
Y - drYV +drYCT(DIDT +CYCT)-'CYdrT
-rlrT =o. (6)
The estimator gain L, is computed by
L, =YCT(CYCT +DIDT)-'
(7)
where Y >0 is the solution of ( 6) . Then, from (5) we
obtain the transfer function of the state estimator
Gt l =[ F] c CL,
which is used as a target loop transfer function
3.4 State Feedback Design
To begin with, consider a system described in Figure
3. Here, d =w - U&t , the residual disturbance. State
feedback control law is described by
u ( k ) =K C( ZT( k ) - W) )
(9)
where K, is the feedback gain to be determined such
that both tracking performance and disturbance rejec-
tion are satisfactory. In order to attain sufficient ro-
bustness, the loop transfer recovery (LTR) design tech-
nique is applied in the design of state feedback gain K,.
Given the target loop transfer function Gtl, the state
feedback gain K, is determined using the LTR method-
ology at the plant output such that the loop transfer
function approaches to the target loop transfer func-
tion. By solving the DARE, with control weighting R2
and state weighting R1 =qCTC for recovery,
x - G ~ x ~ , +aTxr (1-2~ +rTxr)-'rTxdr
-RI =O (10)
one can determine the state feedback gain from
K, =(rTxr +R2)-*rTx+
(11)
where X 2 0 is the solution of (10).
3.5 Analysis of Feedback Loop
The sensitivity transfer function is expressed by
where
1
dr - rK,L,C r ( K, - KAC)
-(a - rK,)L,C dr - r K, - (dr - rK,)L,C
'
The complementary sensitivity transfer function is
G c s = [ * I
where
1
dr - rK,L,C r (Kc - K&C)
- (6, - rK,) L,C 6, - I'K, - (6, - TK,) L,C
' a,, =
It should be noted that the complementary sensitivity
function is the Q filter equivalent in the design of state
space disturbance observer based control systems.
3.6 Disturbance Observer Design
Using (5) we can rewrite the disturbance observer
model (4) shown in Figure 4-(a) as
Ud i s t ( k ) =K d i s t L c (-Y(k) -t Cz ( k ) )
(14)
which is depicted in Figure 4-(b). The disturbance ob-
servation u d i s t ( k ) is represented in terms of the esti-
mation error y ( k ) - Cf(lc). So far, we have assumed
that an appropriate disturbance observer gain Kdist is
41 96
given. To complete design we need to determine the
gain Kdzst. In general, larger gain Kdzst results in more
accurate disturbance observation. However, it also af-
fects stability of the closed loop system. Thus, the
performance of disturbance observation as well as the
stability of closed loop should be considered in the de-
termination of the gain Kdzst. The following theorem
provides a condition for the disturbance observation
gain Kdzst.
Theorem 1 Suppose that p (a - (aL,C) < 1 and
p (a - FK,) <1. Then, there always exist some Kdist
such that p ( ( a - @L,C - rKdiStL,C) <1, i.e. the
feedback loop i s stable. Moreover, in this case, there
exist b (Ts, Kdist) >0 and ks (Ts, Kdist) >0 such that
( ( W - Udi s t ( k) l l <6 (T~, Kdi st ) for >ks (T.,Kdist).
Proof: Not presented due to space limitation w
I 3
U
Model
Model
4
Y Udi s t
(b)
Figure 4: Current state estimator and disturbance ob-
server ((a) and (b) represent the disturbance
observer models (4) and (14), respectively.)
The performance of a disturbance observer is highly
dependent on the sampling frequency. As the sam-
pling frequency becomes higher, the disturbance ob-
server can reject higher frequency disturbances. I n the
case of limited sampling frequency, multi-rate imple-
mentation of the proposed disturbance observer is ef-
fective.
4 Example
A continuous time system described by
0 1 0
0 -128.59 ] z-t [ 2.1484e4 ]
x = [
y = [ 1 O l z f n
is considered. Here, n denotes measurement noise and
w denotes unknown but bounded disturbance of the
system.
4.1 Control System Design
For a sampling time of 300 psec, a discrete model de-
scribed by
[ 1 2. 9429e-41 ,
0 9.6216e-1
[ 9. 5445e-41
6.3224
r= a =
is obtained. We first determine a state estimator
gain L, =[ 0.75 0.5 I T and a state feedback gain
K, =[ 107.42 0.3 ] such that the sensitivity and
complementary sensitivity of the control system are
satisfactory. The state estimator has p((a - (aL,C) =
0.25, 0.96, and the state feedback controller has
p ((a - FK,) =0.895, 0.93. For sufficient compensation
of the equivalent disturbance wechoose a disturbance
observer gain Kdzst =[ 18 3.75 1. Then, we have
p ((a - @L,c - rKdistLcC) =0.28, 0.92. As stated in
Theorem 1, the closed loop is stable and the distur-
bance observer is convergent. Figure 5 shows sensitiv-
ity and complementary sensitivity of the feedback loop.
Figure 5: Sensitivity and complementary sensitivity
4.2 Simulation Results
Disturbances of 0.2 sin(8nt) and 0.2 sin(8nt) +
O. l si n(24nt ) are injected into the plant input in the
simulations of step command tracking and sinusoidal
command tracking, respectively. For more realistic
simulations, we also introduce a control saturation of
Iul 5 umax =0.7 amp, the quantization effect of ADC
and DAC, and measurement noises.
Figure 6 shows time response of the plant for a step
position command. Comparisons of the model out-
put with the plant output are shown. It is shown that
the plant output is very close to the model output fol-
lowing the step command with disturbance compensa-
tion. Figure 7 shows that the disturbance observer ef-
fectively compensates the sinusoidal disturbance. Fig-
ure 8 shows time response of the plant for a sinusoidal
41 97
position command. Comparisons of the model output
with the plant output are shown. It is shown that the
plant output is very close to the model output and to
the sinusoidal command with disturbance compensa-
tion. Figure 9 shows very good compensation of the
sinusoidal disturbances by the disturbance observer.
1 ~ " " " " ' ~
0 0 1 02 03 0 4 0 5 06 0 7 08 09 I
2 1 , I
I
0 01 02 03 0 4 O S 08 07 0 8 09 1
lime [SRI
Figure 6: Step position command tracking
0 0 1 02 03 0 4 0 5 08 0 7 0 8 0 9 1
- 08
niM iw
Figure 7: Disturbance and disturbance observation in
step position command tracking
5 Conclusions
This paper has presented a new discrete-time state
space disturbance observer not requiring modeling of
disturbances. A discrete-time robust tracking control
system is proposed, which consists of the state space
disturbance observer, a state estimator, and a state
feedback controller. Through the results of simulations,
it is shown that the proposed method is very effective
to improve the tracking accuracy of control systems in
the existence of external disturbances. I t is observed
that the proposed disturbance observer effectively esti-
mate and compensate any disturbances if the sampling
0 0 1 0 2 03 0 4 0 5 0 6 07 0 6 09 1
Ti m ( 5 8 ~ 1
Figure 8: Sinusoidal position command tracking
06t 1
0 4 -
P
I
0 0 1 02 03 0 4 0 5 08 0 7 08 09 1
l i me [%cl
- 08
Figure 9: Disturbance and disturbance observation in si-
nusoidal position command tracking
frequency is fast enough. In addition, accurate state
estimation was attained even in the existence of mod-
eling uncertainties as well as external disturbances.
References
[I] G.F. Franklin, J .D. Powell, and M.L. Workman,
Digital Control of Dynamic Systems, Addison Wesley,
1990.
[2] T. Murakami and K. Ohnishi, Observer-based
Motion Control: Application t o Robust Control and
parameter Identification, Proc. of the IEEE Indus-
trial Electronics Society: Asia-Pacific Workshop on Ad-
vances in Motion Control, J uly 15-16, 1993, pp. 1-6.
[3] K. Ohnishi, A New Servo Method in Mechatron-
zcs, Trans. of J apanese Society of Electrical Engineers,
Vol. 107-D, 1987, pp. 83-86.
[4] T. Umeno and Y. Hori, Robust Speed Con-
trol of DC Servomotors using Modern Two Degrees-of-
Freedom Controller Design, IEEE Trans. on Industrial
Electronics, Vol. 38, No. 5, 1990, pp. 363-368.
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