Disturbance attenuation for a class of time-delay systems is performed by a combined simple adaptive control (SAC) with a new configuration of disturbance observer (DOB). The nominal system results from the Pade approximation, which is in the form of a non-minimum phase LTI system. For the implementation of SAC and DOB, two parallel feedforward compensators (PFC) are designed with the inverses of PD- and PID-controller, respectively. Simulation results show the effectiveness of the proposed controller to compensate the disturbance response and uncertain delay time.

In order to improve the motion control performance, a new friction determination method, using the LuGre model, is proposed. The model parameters are determined by performing two-step closed-loop experiments using a proportional-integral observer (PIO). The PIO is also used to develop a robust motion controller to deal with additional uncertainties including the effect of the inaccurate estimation of the friction. The experimental results reveal improved performance compared to that of a single-PIO-based controller.

A rotary inverted pendulum is stabilized by a single first order dynamic output feedback system. Numerical simulations and experimental results show that the proposed control law has low-pass filter property as well as it can successfully replace the velocity measurements for LQR control law.

This paper proposes a robust state observer for multi-input multi-output LTI systems. Unknown inputs of polynomial form and high-frequency measurement noises are considered in the system model. The unknown inputs and the noises are not in the same form. Multiple integrations of both the observer error signal and the measurement output are used for the observer design. The existence condition of the proposed observer is shown to be the same as that of the proportional-integral (PI) observer. Computer simulations show the effectiveness of the proposed observer.

Output voltage regulation problem of DC-DC boost power converters is studied based on an averaged model with a practical inductor. This paper exploits the effect of inductor's parasitic resistance on the performance of an existing parallel-damped (PD) passivity-based controller (PBC) under load variations. As an attempt to apply the passivity-based framework to the converter with parasitic resistance we have combined a new proportional-integral (PI) controller with the PBC. Simulation results show that the combined (PBC and PI) dynamic output feedback controller successfully achieves the performance improvement under reference step changes and load variations.

Since the conventional cascade controller for electric motor drives requires accurate information about the system parameters and load conditions to achieve a desired performance, this paper presents a new practical control structure to improve the robust performance against parameter uncertainties. Two first-order disturbance observers (DOB) are incorporated with the cascade structure, to preserve the nominal performance. The analysis of the robust performance of the DOB is presented by using the singular perturbation theory. Simulation results suggest that the proposed controller can be used effectively as an additional compensator to the conventional cascade scheme.

A simple robust finite-time convergent observer is presented in the presence of unknown input disturbance and measurement noise. In order to achieve the robust estimation and ensure the finite-time convergence, the proposed observer is constructed by using a multiple integral observer scheme in a hybrid system framework. Comparative computer simulations and laboratory experiments have been performed to test the effectiveness of the proposed observer.

This paper examines the robust performance of a load torque observer for the position control of a surface-mounted permanent magnet synchronous motor (PMSM) under parameter uncertainties. The load torque observer has been widely employed to compensate for unknown slow-varying disturbances without explicit analysis on the robustness against parameter uncertainties. By using the singular perturbation theory this paper presents an analysis on the robust performance of the load torque observer based on the reduced-order estimator. As the observer poles are placed sufficiently left of the complex plane, the feedforward compensation with estimation can recover nominal system performance without parameter uncertainties and load torque disturbance. An example shows the performance of the load torque observer.

An extended harmonic disturbance observer is designed for speed (or position) sensorless current control of DC motor subject to a biased sinusoidal disturbance and parameter uncertainties. The proposed method does not require the information on the mechanical part of the motor equation. Theoretical analysis via the singular perturbation theory is performed to verify that the feedforward compensation using the estimation can improve the robust transient performance of the closed-loop system. A stability condition is derived against parameter uncertainties. Comparative experimental results validate the robustness of the proposed method against the uncertainties.

A new state estimation algorithm is presented for a class of LTI systems that have an input disturbance in polynomial form and a sinusoidal sensor disturbance in the measurement output. Adaptation rules are developed for identifying the unknown magnitude, phase and frequency of the sensor disturbance from the system output measurement. For the application of the identification result to the state estimation problem, the sinusoidal signal with arbitrary initial phase has been considered in this paper. In order to test the performance of the proposed algorithm, comparative computer simulations have been carried out with a robust state observer. Simulation results show the effectiveness of the proposed method.