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이국선(Kooksun Lee),하원석(Wonseok Ha),백주훈(Juhoon Back) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.5
In industrial applications, there are disturbances and uncertainties that bring unfavorable effects to achieving the desired performance of a closed-loop system. Not surprisingly, many researchers have developed various techniques to attenuate influence of the disturbance. One intuitive idea is to design a disturbance estimator, called a disturbance observer, and cancel the effects by feedback action. This paper is a survey of disturbance observers and related methods. We categorize existing methods by design approach, applied system, and characterization of disturbance. Several disturbance observers are explained by simple examples. The readers could use this paper to help understand the configurations of representative disturbance observer methods.
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