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• W2154920563 abstract "This paper is concerned with disturbance rejection performance in single-input single-output (SISO) nonlinear systems described by uncertain linear dynamics and bounded nonlinearities. After transforming the nonlinear terms into an equivalent bounded disturbance at the output of a linear system, a disturbance observer (DOB) is added to achieve robust disturbance rejection. The DOB design is formulated as Luenberger observer state estimation for an augmented system which contains at least one eigenvalue at the origin. The synthesis of a (sub)optimal DOB is carried out by solving multi-objective H∞ sensitivity optimization. The design approach is applied to an inverted pendulum with actuator backlash." @default.
• W2154920563 created "2016-06-24" @default.
• W2154920563 creator A5044570760 @default.
• W2154920563 creator A5064077634 @default.
• W2154920563 date "2013-06-01" @default.
• W2154920563 modified "2023-09-23" @default.
• W2154920563 title "Robust tracking performance and disturbance rejection for a class of nonlinear systems using disturbance observers" @default.
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• W2154920563 doi "https://doi.org/10.1109/acc.2013.6579980" @default.
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