(Ebook PDF) Disturbance Observer for Advanced Motion Control with MATLAB Simulink 1st edition by Akira Shimada ISBN 9781394178124 1394178123 full chapters

1 Introduction of Disturbance Observer

• 1.1 Types of Disturbance Observers
• 1.2 Format of Example and Use of MATLAB
• 1.3 How This Book Is Organized
• References
• Notes

2 Basics of Disturbance Observer

• 2.1 What Is Disturbance
• 2.2 How Disturbance Estimation Works
• 2.3 Disturbance Rejection and Acceleration Control System
• 2.4 Reaction Force Observer (RFOB)
• 2.5 Internal Model and Two‐degrees‐of‐freedom Control
• 2.6 Effect of Observation Noise and Modeling Error
• 2.7 Real System Modeling
• 2.8 Idea of Robust Control
• References
• Notes

3 Stabilized Control and Coprime Factorization

• 3.1 Coprime Factorization and Derivation of Stabilizing Controller
• 3.2 Relationship with Disturbance Observer
• 3.3 Coprime Factorization and Structure of Two‐degrees‐of‐freedom Control System
• References
• Notes

4 Disturbance Observer in State Space

• 4.1 Identity Input Disturbance Observer
• 4.2 Identity Reaction Force Observer
• 4.3 Identity Output Disturbance Observer
• 4.4 Identity Higher Order Disturbance Observer Design
• 4.5 Minimal Order Disturbance Observer
• 4.6 Design of Periodic Disturbance Observer
• 4.7 Observability and Noninput/Output Disturbances
• References
• Notes

5 Digital Disturbance Observer Design

• 5.1 Identity Digital Disturbance Observer Design
• 5.2 Confirmation of Separation Theorem
• 5.3 Minimal Order Digital Disturbance Observer
• 5.4 Identity High‐order Digital Disturbance Observer
• References
• Notes

6 Disturbance Observer of Vibrating Systems

• 6.1 Modeling of the Two‐inertia System
• 6.2 Vibration Suppression Control in Transfer Function Representation
• 6.3 Disturbance Observer and Stabilization for Two‐inertia Systems
• 6.4 Servo System with DOB for Two‐inertia Systems
• References
• Notes

7 Communication Disturbance Observer

• 7.1 Smith Method Overview
• 7.2 Communication Disturbance Observer
• 7.3 Control with Communication DOB Under Disturbance
• References
• Notes

8 Multirate Disturbance Observer

• 8.1 Multirate System Modeling
• 8.2 Multirate Disturbance Observer (Method 1)
• 8.3 Multirate Disturbance Observer (Method 2)
• References
• Notes

9 Model Predictive Control with DOB

• 9.1 Model Predictive Control (MPC)
• 9.2 Constraint Descriptions
• 9.3 MPC System Design
• 9.4 Design of Disturbance Observer‐Merged MPC System
• References
• Notes

10 Kalman Filter with Disturbance Estimation (KFD)

• 10.1 Design of Kalman Filter with Disturbance Estimation
• 10.2 Design of Stationary Kalman Filter with Disturbance Estimation (SKFD)
• 10.3 Design of Extended Kalman Filter with Disturbance Estimation (EKFD)
• References
• Notes

11 Adaptive Disturbance Observer

• 11.1 Structure of an Adaptive Observer
• 11.2 Derivation of Observable Canonical System for Adaptive DOB
• 11.3 Creating State Variable Filter
• 11.4 Design of Kreisselmeier‐Type Adaptive Disturbance Observer
• References
• Notes

12 Methods for Measuring and Estimating Velocities

• 12.1 Importance of Velocity Measurement
• 12.2 Velocity Measurement and Estimation Methods
• References
• Notes

Appendix A: Mathematical Foundations and Control Theory

• A.1 Mathematics
• A.2 Basic Classical Control Theory
• A.3 Basic Modern Control Theory
• A.4 Doyle’s Notation and Double Coprime Factorization
• A.5 Foundations of Digital Control Theory
• A.6 Representation and Meaning of Optimal Programming
• References