Hybrid controller with observer for the estimation and rejection of disturbances

José de Jesús Rubio

doi:10.1016/j.isatra.2016.08.026

Hybrid controller with observer for the estimation and rejection of disturbances

ISA Trans. 2016 Nov:65:445-455. doi: 10.1016/j.isatra.2016.08.026. Epub 2016 Oct 6.

Author

José de Jesús Rubio¹

Affiliation

¹ Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de las Granjas no. 682, Col. Santa Catarina, México D.F. 02250, Mexico. Electronic address: jrubioa@ipn.mx.

PMID: 27720477
DOI: 10.1016/j.isatra.2016.08.026

Abstract

In this paper, a hybrid controller with observer is introduced for the estimation and rejection of a disturbance. It is based on the combination of the sliding mode technique and the output feedback strategy. It is divided into two designs: (1) the observer and (2) the controller with observer. The observer is selected to reach two objectives: (a) to assure its stability and (b) for the estimation of a disturbance. The controller with observer is selected to reach three objectives: (a) to assure its stability, (b) for the rejection of a disturbance, and (c) for the decreasing of chattering in the sliding mode behavior. The proposed method is applied for the estimation and rejection of the disturbance in a plotter and a suspension system.

Keywords: Controller; Disturbance; Observer; Output feedback; Plotter; Sliding mode; Stability; Suspension system.