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Abstract—This paper presents a new method of improving the input channel. However, the existence of an EID has never been
disturbance-rejection performance of a servo system based on discussed from a theoretical standpoint, and the estimation of an
the estimation of an equivalent input disturbance (EID). First, the EID is meaningful only when its existence is guaranteed. In this
concept of EID is defined. Next, the configuration of an improved
servo system employing the new disturbance-estimation method is paper, a lemma is first presented that theoretically guarantees
described. Then, a method of designing a control law employing the existence of an EID for a plant under some assumptions.
a disturbance estimate is explained. Finally, the speed control of a Next, a new method of estimating an EID is explained that
rotational control system is used to demonstrate the validity of the overcomes the drawbacks of, and has several advantages over,
method, and some design guidelines are presented. existing ones. For example, it can reject any kind of distur-
Index Terms—Disturbance estimation, disturbance rejection, bance; it does not require the differentiation of measured
equivalent input disturbance (EID), perfect regulation, servo outputs, rank conditions, or priori information on a disturbance;
system, stable inversion. and it does not use the inverse dynamics of the plant, thereby
avoiding the cancellation of unstable poles/zeros. The method
I. I NTRODUCTION only needs the input and output of the plant to produce an EID
and does not require the state of the plant. This enlarges its
O VER THE PAST few decades, a considerable number of
studies have been devoted to the estimation and rejection
of an unknown disturbance (e.g., [1]–[11]). While most of these
range of application. The system configuration is also very sim-
ple, and the Separation Theorem can be used to independently
methods require the differentiation of measured outputs, the design the state feedback, and the observer and low-pass filter.
methods in [1]–[8] do not. However, in [1]–[3], rank conditions This paper first defines an EID for a system containing
are imposed on the unknown inputs; [4] requires exact infor- disturbances that may not necessarily be imposed on the control
mation on a disturbance; [5] and [6] consider only a special input channel. Next, a new method of EID estimation based on
class of disturbances; and [7] and [8] use the inverse dynam- the control input and the output of the plant is described. Then,
ics of the plant directly in the construction of the estimator. an improved servo system employing an estimate of an EID
She et al. [12] devised a new method that overcomes the is constructed, and a design algorithm for the control system
drawbacks of these methods. However, the state of the plant is presented. Finally, the results of simulations and experiments
is needed for the estimation. on the speed control of a rotational control system are presented
On the other hand, from the standpoint of the control system, to demonstrate the validity of the method, and some design
it is more reasonable to estimate a disturbance on the control guidelines are given.
input channel than to estimate the disturbance itself because In this paper, to make block diagrams easier to understand,
we have to use the control input to improve the disturbance- only the minus inputs of a summer are marked, and the plus
rejection performance. In fact, many disturbance-rejection symbols are omitted.
methods, such as the disturbance observer, implicitly assume
that an equivalent input disturbance (EID) exists on the control
II. C ONSTRUCTION OF I MPROVED S ERVO S YSTEM
Manuscript received December 6, 2006; revised July 2, 2007. The work of This section first defines an EID and, then, describes the
J.-H. She, Y. Ohyama, and H. Hashimoto was supported in part by the Electro- configuration of an improved servo system constructed by
Mechanic Technology Advancing Foundation, Japan, by the Grant-in-Aid for inserting a disturbance estimator that estimates an EID into a
Scientific Research (C), Japan Society for the Promotion of Science (JSPS)
under Grant 18560259, and by the High Tech-Research Center Project funded conventional servo system.
by the Ministry of Education, Culture, Sports, Science and Technology of
Japan. The work of M. Fang and M. Wu was supported by the National Science
Fund for Distinguished Youth Scholars of China under Grant 60425310. A. Definition of EID
J.-H. She, Y. Ohyama and H. Hashimoto are with the School of Bionics,
Tokyo University of Technology, Tokyo 192-0982, Japan (e-mail: Consider the linear time-invariant plant in Fig. 1
she@bs.teu.ac.jp; ohyama@bs.teu.ac.jp; hiro-hashimoto@ieee.org).
M. Fang is with the School of Information Science and Engineering, Central
South University, Changsha 410083, China, and also with the College of ẋo (t) = Axo (t) + Bu(t) + Bd d(t)
(1)
Physics and Electronic Information, Anhui Normal University, Wuhu 241000, yo (t) = Cxo (t)
China (e-mail: mingxing.fang@gmail.com).
M. Wu is with the School of Information Science and Engineering, Central
South University, Changsha 410083, China (e-mail: min@csu.edu.cn). where A ∈ Rn×n , B ∈ Rn×nu , Bd ∈ Rn×nd , C ∈ Rny ×n ,
Digital Object Identifier 10.1109/TIE.2007.905976 xo (t) ∈ Rn , u(t) ∈ Rnu , d(t) ∈ Rnd , and yo (t) ∈ Rny .
Assume that there exists a control input ∆d(t) that satisfies includes the effects of the disturbance. This difference degrades
the tracking precision if we directly use the available states. In
∆ẋ(t) − A∆x(t) = B∆d(t). (8) order to obtain an EID with a high precision, it is important to
guarantee that ŷ(t) − y(t) converges to zero. Therefore, using
Substituting (8) into (7) and letting the estimate of the EID be a full-order state observer is desirable.
ˆ = de (t) + ∆d(t)
d(t) (9)
C. Disturbance Rejection
allows us to express the plant as
Combining the disturbance estimate (13) with the original
˙
x̂(t) ˆ
= Ax̂(t) + B u(t) + d(t) . (10) servo control law yields the following control law:
˜
u(t) = uf (t) − d(t) (14)
Remark 5: Equations (9) and (10) mean that, if we take the
state of the plant with an EID to be x̂(t), which is exactly the
as shown in Fig. 3. This modified control law improves the
state of the observer, then the difference between the state of
disturbance-rejection performance. The method described in
the plant and that of the observer is equivalent to the difference
this paper has two important features that are not provided by
between the exact value and the estimate of the EID. Equation
other methods.
(10) plays a key role in the EID estimation.
Equations (5) and (10) yield 1) The configuration of the system is very simple.
2) Incorporating the disturbance estimate directly into the
ˆ + u(t) − uf (t) = LC [x(t) − x̂(t)] .
B d(t) (11) designed servo control law makes the disturbance-
rejection performance easy to improve.
ˆ then a least square solution is Regarding the first feature, the improved servo system can
If we solve (11) for d(t),
be viewed as a conventional servo system enhanced by the
ˆ = B + LC [x(t) − x̂(t)] + uf (t) − u(t).
d(t) (12) plugging-in of a disturbance estimate. Therefore, the structure
is very simple and very easy to understand. Regarding the
ˆ is filtered by F (s), which selects the angular-frequency
d(t) second feature, let ωr be the highest angular frequency for dis-
band for disturbance estimation. Thus, the filtered disturbance turbance rejection and Ωr := {ω, 0 ≤ ω ≤ ωr } be the angular-
˜ is given by
estimate d(t) frequency band for disturbance rejection. A suitable design
ˆ converges to de (t), and
of the observer guarantees that d(t)
D̃(s) = F (s)D̂(s) (13) D̃(jω) ≈ D̂(jω) for all ω ∈ Ωr is true for a properly designed
˜ is a good approximation
low-pass filter F (s). Therefore, d(t)
where D̃(s) and D̂(s) are the Laplace transforms of d(t) ˜ and of de (t).
ˆ respectively.
d(t), Remark 7: Umeno et al. [15] presented a Q-filter method
Remark 6: Since an estimate is obtained for an EID, the for the design of a disturbance observer. The cutoff angular
channel on which the EID is imposed might be different from frequency of a Q-filter must be sufficiently higher than the
that of the actual disturbance. Therefore, generally speaking, highest angular frequency of the disturbances to guarantee that
a full-order state observer must be used to estimate the state the disturbance estimate is imposed on the control input. The
of the plant because, if a disturbance exists, then the estimated situation is the same for the low-pass filter F (s) in this paper.
state of the plant might be different from the actual state, which However, as pointed out in [16], for a Q-filter, improving the
SHE et al.: IMPROVING DISTURBANCE-REJECTION PERFORMANCE BASED ON AN EID APPROACH 383
Fig. 4. Block diagram for the design of low-pass filter and state observer.
disturbance-rejection performance requires an increase on the thus, do not appear in the transfer function (19). For this system,
order of the filter; basically, to guarantee causality, the order we obtain the following from the small-gain theorem [17].
cannot be lower than the relative degree of the plant. In con- Theorem 1: For a suitably designed state-feedback gain
trast, even a first-order F (s) produces satisfactory disturbance- [KP KR ], the control law (14) guarantees the stability of the
rejection performance. control system under the following conditions.
This system also has another very important feature: The 1) A − LC is stable.
state-feedback control law can be designed independent of the 2) GF ∞ < 1 where GF ∞ := sup0 ≤ ω ≤ ∞ σmax
observer and the low-pass filter, as long as stability is the only [G(jω)F (jω)], and σmax (G) means the maximum
concern. This is discussed in the following section. singular value of G.
Remark 8: The stability conditions for the improved servo
D. Design of Filter and State Observer system can be broken down into two parts (Separation Theorem
[18]). First, the state-feedback servo system is stable. Second,
The state observer gain L and the low-pass filter F (s) should the conditions in Theorem 1 hold. Since the only parameters
be designed so that they do not destroy the stability of the in those conditions are L and F (s), their design is much sim-
system. Regarding stability, if we let pler than the design of parameters in the disturbance-observer
r(t) = 0, d(t) = 0 (15) method [7], which requires a low-pass filter to guarantee the
stability of the whole system.
then the plant (2) is On the other hand, for the dual system of the plant
ẋ(t) = Ax(t) + Bu(t). (16) ẋL (t) = AT xL (t) + C T uL (t)
(20)
yL (t) = B T xL (t)
Combining (5), (6), and (14) with the aforementioned equation
yields consider the state feedback parameterized by a scalar ρ > 0
˜
∆ẋ(t) = (A − LC)∆x(t) + B d(t). (17) uL (t) = LT
ρ xL (t).
On the other hand, (12) is equivalent to If (AT , C T , B T ) [and, thus, (A, B, C)] is a minimum-phase
ˆ = −B + LC∆x(t) + d(t).
˜ system, then, based on the concept of perfect regulation [19],
d(t) (18)
[20], we can obtain an LT ρ that ensures
Using the relationships (15)–(18) and redrawing Fig. 3 yield
Fig. 4. Equations (17) and (18) yield the transfer function from lim [sI − (A − Lρ C)]−1 B = 0.
ρ→∞
˜ to d(t)
d(t) ˆ
Note that [sI − (A − Lρ C)]−1 B is part of G(s), which means
G(s) = 1 − B + LC [sI − (A − LC)]−1 B that a large enough ρ makes |G(jω)| sufficiently small for
= B + (sI − A) [sI − (A − LC)]−1 B. (19) all ω ∈ [0, ∞). Therefore, based on the concept of perfect
regulation, for a given F (s), we can obtain an L that satisfies
Note that the stabilized dynamics under the dotted line in Fig. 4 the conditions in Theorem 1. The design procedure is explained
are unobservable from the dynamics above the dotted line and, in the next section.
384 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO. 1, JANUARY 2008
E. Design Procedure
Summarizing the aforementioned results yields the following
design algorithm for the improved servo system.
Design algorithm:
Step 1) Design the feedback gains KP and KR for a conven-
tional servo system using an existing method (e.g.,
the optimal control method).
Step 2) Choose an angular-frequency band Ωr for distur-
bance rejection.
Step 3) Choose a low-pass filter that satisfies
F (jω) ≈ 1 ∀ω ∈ Ωr . (21)
is true from the Bode plots. If it is not, then increase ρ until (22)
is satisfied.
This design algorithm is intuitive and easy to understand.
Furthermore, since only one parameter ρ needs to be changed,
adjustment of the design is very simple.
III. S IMULATIONS AND E XPERIMENTAL V ERIFICATION Fig. 5. Rotational control system. (a) Model. (b) Block diagram.
We employed the method previously described for the speed In (23)–(25), the variables and parameters with the subscript p
control of a rotational control system (Fig. 5) consisting of two (or d) indicate that they are related to the controlled motor (or
dc motors: One was used as the controlled object, and the other disturbance generator). They are defined as follows:
was used as a disturbance generator. The system is very similar u Applied voltage (in volts).
to the well-known two-mass system [21]. However, in this d Disturbance voltage (in volts).
paper, we used one motor to generate a torque disturbance that ip (id ) Armature current (in amperes).
was imposed on the controlled motor from a channel other than τp (τd ) Torque produced (in newton meters).
the control input channel. The axles of the motors were coupled τpd Twisting torque (in newton meters).
together with a spring: 1) The controlled motor maintained the ωp (ωd ) Rotational speed (in radians per second).
specified rotational speed, in spite of any disturbances; and θp (θd ) Rotation angle (in radians).
2) the disturbance generator produced disturbances, adding ir- Jp (Jd ) Inertia (in kilogram square meters).
regularities to the rotational speed. The models of the controlled Rp (Rd ) Resistance of armature coil (in ohms).
motor and the disturbance generator are Kp (Kd ) Back-electromotive-force constant (in volt seconds
per radian) or torque constant (in newton meters per
Rp ip (t) + Kp ωp (t) = u(t) ampere).
τp (t) = Kp ip (t) (23) Kpd Twisting elasticity coefficient of coupling (in new-
Jp ω̇p (t) = τp (t) − τpd (t) ton meters per radian).
Choosing the state to be xo (t) = [ωp (t) ωd (t) θp (t) −
and θd (t)]T and the output to be yo (t) = ωp (t) yields the following
state space description in (1):
Rd id (t) + Kd ωd (t) = d(t) K2 K
τd (t) = Kd id (t) (24)
− Jp Rp p 0 − Jpd
J ω̇ (t) = τ (t) + τ
p
A= 0 K2 Kpd
d d d pd(t)
− Jd Rd d Jd
1 −1 0 (26)
Kp T
respectively, and
0 1
J R
B = 0 Bd = Kd C = 0 .
p p
Jd Rd
τpd (t) = Kpd [θp (t) − θd (t)] . (25) 0 0 0
SHE et al.: IMPROVING DISTURBANCE-REJECTION PERFORMANCE BASED ON AN EID APPROACH 385
Fig. 7. Simulation results without disturbance estimation. Fig. 8. Simulation results with disturbance estimation.
TABLE I
POWER SPECTRAL DENSITY OF STEADY-STATE OUTPUT FOR VARIOUS
CUTOFF ANGULAR FREQUENCIES OF LOW-PASS FILTER (31)
(NDE: NO DISTURBANCE ESTIMATION)
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