内容简介：　　　

　　Due to its abilities to compensate disturbances and uncertainties, disturbance observer based control (DOBC) is regarded as one of the most promising approaches for disturbance-attenuation. One of the first books on DOBC, Disturbance Observer Based Control: Methods and Applications presents novel theory results as well as best practices for applications in motion and process control that have already benefited numerous organizations.

　　Supplying authoritative guidance in the areas of disturbance estimation and compensation for practical engineering systems, the book includes coverage of theoretic methods and practical applications of disturbance estimation and compensation for control systems through a DOBC approach. It considers applications in flight control systems, motion control systems, and process control systems.

　　• Supplies an authoritative overview of disturbance observer based control approaches

　　• Reports on recent developments in disturbance estimation techniques

　　• Considers matched and mismatched disturbance/uncertainty attenuation for DOBC

　　• Illustrates applications of the methods covered with detailed engineering case studies

　　Filled with valuable insights gathered over decades of research by the authors, this book provides time- and stress-saving guidance for anyone interested in the theory and method research of DOBC. Using typical engineering examples, the text provides readers with an understanding of recent developments in DOBC as well as the tools required to make the most of this promising approach to disturbance-attenuation.

List of Figures
List of Tables
Preface
About the Authors
Section 1 OVERVIEW
1 Overview
　　1.1 Introduction
　　1.2 Motivations
　　　　1.2.1 High-Gain Control
　　　　1.2.2 Integral Control
　　　　1.2.3 Disturbance Observer-Based Control
　　1.3 Basic Framework
　　　　1.3.1 Frequency Domain Formulation
　　　　1.3.2 Time Domain Formulation
　　1.4 Early History
　　　　1.4.1 An Overview on Disturbance Estimation Approaches
　　　　　　1.4.1.1 Linear Disturbance Observer
　　　　　　1.4.1.2 Nonlinear Disturbance Observer
　　　　1.4.2 An Overview of Disturbance Estimation Based Control Approaches
　　　　　　1.4.2.1 Robustness Performance and Stability
　　　　　　1.4.2.2 Composite Hierarchical Anti-Disturbance Control
　　　　　　1.4.2.3 Compensation of Mismatched Disturbances
　　1.5 What is in This Book
SECTION 2 DISTURBANCE ESTIMATION DESIGN
2 Linear Disturbance Estimator
　　2.1 Introduction
　　2.2 Frequency Domain Disturbance Observer
　　　　2.2.1 Minimum-Phase Case
　　　　2.2.2 NonMinimum Phase Case
　　2.3 Time Domain Disturbance Observer
　　2.4 Extended State Observer
　　2.5 Summary
3 Basic Nonlinear Disturbance Observer
　　3.1 Introduction
　　3.2 Nonlinear Disturbance Observer for Constant Disturbances
　　　　3.2.1 A Basic Formulation
　　　　3.2.2 An Enhanced Formulation
　　3.3 Nonlinear Disturbance Observer for General Exogenous Disturbances
　　　　3.3.1 A Basic Formulation
　　　　3.3.2 An Enhanced Formulation
　　3.4 Summary
4 Advanced Nonlinear Disturbance Observer
　　4.1 Introduction
　　4.2 High-Order Disturbance Observer
　　　　4.2.1 Constant Disturbance Case
　　　　4.2.2 Ramp Disturbance Case
　　　　4.2.3 High-Order Disturbance Case
　　4.3 Extended High-Gain State Observer
　　4.4 Finite-Time Disturbance Observer
　　4.5 Summary
SECTION 3 DISTURBANCE OBSERVER-BASED CONTROL DISIGN
5 Disturbance Observer-Based Control for Nonlinear System
　　5.1 Introduction
　　5.2 A General Design Framework
　　5.3 Nonlinear Disturbance Observer-Based Control (NDOBC)
　　　　5.3.1 Nonlinear Disturbance Observer
　　　　5.3.2 Composite Controller Design
　　5.4 Example Study
　　5.5 Summary
6 Generalized Extended State Observer-Based Control for System With Mismatched Uncertainties
　　6.1 Introduction
　　6.2 Generalized Extended State Observer-Based Control (GESOBC)
　　　　6.2.1 Composite Control Design
　　　　6.2.2 Stability and Disturbance Rejection Analysis
　　　　　　6.2.2.1 Case of Measurable States
　　　　　　6.2.2.2 Case of Unmeasurable States
　　6.3 Simulation Example
　　6.4 Further Discussions
　　　　6.4.1 Extension to MIMO System
　　　　　　6.4.1.1 Solvability of the Disturbance Compensation Gain
　　　　　　6.4.1.2 Controllable Condition
　　　　6.4.2 Parameter Design for GESOBC
　　6.5 Summary
7 Nonlinear Disturbance Observer-Based Control for Systems with Mismatched Uncertainties
　　7.1 Introduction
　　7.2 Problem Formulation
　　7.3 Novel Nonlinear Disturbance Observer-Based Control
　　　　7.3.1 Controller Design
　　　　7.3.2 Stability Analysis
　　　　7.3.3 Disturbance Attenuation Analysis
　　7.4 Application to a Nonlinear Missile
　　　　7.4.1 Longitudinal Dynamics of a Missile System
　　　　7.4.2 Nonlinear Dynamic Inversion Control
　　　　7.4.3 Nonlinear Disturbance Observer-Based Robust Control
　　　　7.4.4 Simulation Studies
　　　　　　7.4.4.1 External Disturbance Rejection Ability
　　　　　　7.4.4.2 Robustness Against Model Uncertainties
　　7.5 Summary
8 Nonlinear Disturbance Observer-Based Control for Systems with Arbitrary Disturbance Relative Degrees
　　8.1 Introduction
　　8.2 Problem Formulation
　　8.3 NDOBC for SISO Nonlinear System with Arbitrary DRD
　　　　8.3.1 Control Law Design
　　　　8.3.2 Stability Analysis
　　8.4 NDOBC for MIMO Nonlinear System with Arbitrary DRDs
　　　　8.4.1 Control Law Design
　　　　8.4.2 Stability Analysis
　　8.5 An Illustrative Example
　　8.6 Summary
9 Linear/Nonlinear Disturbance Observer-Based Sliding Mode Control for System with Mismatched Uncertainties
　　9.1 Introduction
　　9.2 Linear Disturbance Observer-Based Sliding-Mode Control
　　　　9.2.1 Problem of the Existing SMC Methods
　　　　9.2.2 Novel SMC Method Based on a Disturbance Observer
　　　　　　9.2.2.1 Control Design
　　　　　　9.2.2.2 Stability Analysis
　　　　9.2.3 An Illustrative Example
　　　　　　9.2.3.1 Nominal Performance Recovery
　　　　　　9.2.3.2 Chattering Reduction
　　9.3 Nonlinear Disturbance-Based Nonsingular Terminal Sliding Mode Control
　　　　9.3.1 Problem of the Existing NTSMC Methods
　　　　9.3.2 Novel NTSMC Method Based on a Finite-Time Disturbance Observer
　　　　　　9.3.2.1 Finite-Time Disturbance Observer
　　　　　　9.3.2.2 Control Design and Stability Analysis
　　　　9.3.3 An Illustrative Example
　　9.4 Summary
SECTION 4 APPLICATION TO PROCESS CONTROL SYSTEMS
10 Application to Process Control System
　　10.1 Introduction
　　10.2 System Modeling of Level Tank
　　10.3 Disturbance Rejection Control Design and Implementation
　　　　10.3.1 Model Predictive Control
　　　　10.3.2 Disturbance Observer Enhanced Model Predictive Control
　　　　10.3.3 Control Implementation
　　10.4 Simulation and Experimental Studies
　　　　10.4.1 Simulation Results and Analysis
　　　　10.4.2 Experimental Results and Analysis
　　10.5 Summary
11 Disturbance Rejection for Ball Mill Grinding Circuits
　　11.1 Introduction
　　11.2 Process Description
　　　　11.2.1 Process Background
　　　　11.2.2 Description of Grinding Circuit
　　11.3 Control Scheme
　　　　11.3.1 Multivariable MPC Algorithm
　　　　11.3.2 Disturbance Observer for Process with Time Delays
　　　　11.3.3 DOB-MPC Scheme for Ball Mill Grinding Circuits
　　11.4 Performance Analysis and Comparisons
　　　　11.4.1 Disturbance Rejection in Nominal Case
　　　　11.4.2 Disturbance Rejection in Model Mismatch Case
　　11.5 Summary
SECTION 5 APPLICATION TO MECHATRONIC SYSTEM
12 Disturbance Rejection for Magnetic Leviation Suspension System
　　12.1 Introduction
　　12.2 Problem Formulation
　　　　12.2.1 Nonlinear MAGLEV Suspension Dynamics
　　　　12.2.2 Model Linearization
　　　　12.2.3 Problem Formulation
　　12.3 DOBC Design
　　12.4 Simulation and Analysis
　　　　12.4.1 External Disturbance Rejection Performance
　　　　12.4.2 Robustness Against Load Variation
　　12.5 Summary
13 Disturbance Rejection for Permanent Magnet Synchronous Motors
　　13.1 Introduction
　　13.2 Problem Description
　　13.3 Control Strategy
　　　　13.3.1 The Principle of ESO-Based Control Method
　　　　13.3.2 Speed Controller Design
　　　　13.3.3 Current Controller Design
　　13.4 Simulation and Experimental Results
　　　　13.4.1 Simulation Results
　　　　13.4.2 Experimental Results
　　13.5 Summary
SECTION 6 APPLICATION TO FLIGHT CONTROL SYSTEM
14 Disturbance Rejection for Small-Scale Helicopters
　　14.1 Introduction
　　14.2 Helicopter Modeling
　　14.3 Explicit Nonlinear MPC with Disturbances
　　　　14.3.1 Output Approximation
　　　　14.3.2 Explicit Nonlinear MPC Solution
　　14.4 Disturbance Observer-Based Control
　　　　14.4.1 Disturbance Observer
　　　　14.4.2 Composite Controller
　　14.5 Stability Analysis
　　14.6 Simulation and Experiment
　　14.7 Summary
15 Disturbance Rejection for Bank-to-Turn Missiles
　　15.1 Introduction
　　15.2 Pitch/Yaw Dynamic Models of BTT Missiles
　　15.3 Disturbance Observer
　　15.4 Disturbance Observer-Based Robust Control
　　　　15.4.1 Feedback Control Design
　　　　15.4.2 Stability Analysis of Closed-Loop System
　　　　15.4.3 Design of Disturbance Compensation Gain
　　15.5 Simulation Studies
　　　　15.5.1 External Disturbance Rejection Performance
　　　　15.5.2 Robustness Against Model Uncertainties
　　15.6 Summary
16 Disturbance Rejection for Airbreathing Hypersonic Vehicles
　　16.1 Introduction
　　16.2 Problem Formulation
　　　　16.2.1 Longitudinal Dynamics of a Generic AHV
　　　　16.2.2 Problem Formulation
　　16.3 Nonlinear Disturbance Observer-Based Robust Flight Control
　　　　16.3.1 Composite Control Law Design
　　　　16.3.2 Stability Analysis
　　16.4 Simulation Studies
　　　　16.4.1 External Disturbance Rejection
　　　　16.4.2 Robustness Against Model Uncertainties
　　16.5 Summary
Reference
Index