자기부상시스템의 외란관측기 제어기에 공칭 모델이 미치는 영향에 관한 연구

초록

The disturbance observer (DOB) controller has been very popular among control engineers since it has powerful capability in uncertainty compensation and disturbance rejection. In this paper, we study the influence of nominal model on disturbance observer controller for Electro-Magnetic suspension (EMS) systems. While the conventional DOB controller uses the nominal model having the same relative degree as real plant, this paper proposes a new DOB controller consisting of the nominal model having smaller relative degree than real one. Control performance was compared between two DOB controllers with respect to disturbance attenuation and noise suppression. It was found that the proposed DOB controller outperforms the conventional DOB controller, especially for the noise suppression capability.

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