Cover -- Title Page -- Copyright -- Contents -- About the Author -- Preface -- About the Companion Website -- Chapter 1 Introduction of Disturbance Observer -- 1.1 Types of Disturbance Observers -- 1.1.1 Introduction -- 1.1.2 Observer and Control System Design Concepts -- 1.2 Format of Example and Use of MATLAB -- 1.2.1 Format of the Example Problem -- 1.2.2 Using MATLAB/Simulink -- 1.3 How This Book Is Organized -- 1.3.1 The Structure of This Document -- 1.3.2 How to Read This Book -- References -- Chapter 2 Basics of Disturbance Observer -- 2.1 What Is Disturbance
2.2 How Disturbance Estimation Works -- 2.3 Disturbance Rejection and Acceleration Control System -- 2.3.1 Concept of Disturbance Rejection and Acceleration -- 2.3.2 Different Disturbance Observers Depending on How the Disturbance Is Captured -- 2.3.3 Basic Control System Design -- 2.4 Reaction Force Observer (RFOB) -- 2.4.1 Reaction Force Observer Design -- 2.4.2 Combined Use of DOB and RFOB -- 2.5 Internal Model and Two-degrees-of-freedom Control -- 2.5.1 Internal Model Principle -- 2.5.2 Feedforward Control -- 2.5.3 Control System with Disturbance Observer and Feedforward
2.6 Effect of Observation Noise and Modeling Error -- 2.6.1 Effect of Observation Noise -- 2.6.2 Effect of Modeling Error -- 2.6.3 Effect of Viscous Friction -- 2.6.4 Effect of Varying Mass -- 2.7 Real System Modeling -- 2.7.1 DC Motor Torque Control Model -- 2.7.2 Without Current Feedback -- 2.7.3 Relationship Between the Cart Model and Rotary-type Motor -- 2.8 Idea of Robust Control -- References -- Chapter 3 Stabilized Control and Coprime Factorization -- 3.1 Coprime Factorization and Derivation of Stabilizing Controller -- 3.1.1 Derivation of Parameters for Coprime Factorization
3.1.2 Stabilizing Controller and Free Parameters -- 3.1.3 Double Coprime Factorization Involving Q(s) -- 3.2 Relationship with Disturbance Observer -- 3.3 Coprime Factorization and Structure of Two-degrees-of-freedom Control System -- References -- Chapter 4 Disturbance Observer in State Space -- 4.1 Identity Input Disturbance Observer -- 4.1.1 How to Design the Identity Input Disturbance Observer in Continuous System -- 4.1.2 Controllability and State Feedback -- 4.1.3 Continuous-time Servo System with Identity 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 -- 4.7.1 Mathematical Model of a DC Motor -- 4.7.2 DC Motor Observable Matrix and Rank -- 4.7.3 Observability of Disturbance Estimation -- 4.7.4 Noninput/Output Disturbance Observer and Control -- References -- Chapter 5 Digital Disturbance Observer Design -- 5.1 Identity Digital Disturbance Observer Design -- 5.2 Confirmation of Separation Theorem
