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Computation of minimum bandwidth of Q-filter for robust stability of disturbance observer-based control systems : 외란 관측기 기반 제어 시스템의 강인 안정성을 위한 Q-필터의 최소 대역폭 계산
DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | 심형보 | - |
dc.contributor.author | 장하민 | - |
dc.date.accessioned | 2021-11-30T02:19:05Z | - |
dc.date.available | 2021-11-30T02:19:05Z | - |
dc.date.issued | 2021-02 | - |
dc.identifier.other | 000000164996 | - |
dc.identifier.uri | https://hdl.handle.net/10371/175265 | - |
dc.identifier.uri | https://dcollection.snu.ac.kr/common/orgView/000000164996 | ko_KR |
dc.description | 학위논문 (석사) -- 서울대학교 대학원 : 공과대학 전기·정보공학부, 2021. 2. 심형보. | - |
dc.description.abstract | As the disturbance observer (DOB)-based controller has been widely applied in practice, various aspects of the disturbance observer have been theoretically studied. In particular, robust stability of the linear closed-loop system with single-input single-output (SISO) Q-filter-based DOB has been rigorously analyzed, and finally, a necessary and sufficient condition for robust stability was obtained under the premise that the bandwidth of Q-filter is large. However, even the most recent study about the design of Q-filter-based DOB for robust stability does not offer a practical method for the determination of the Q-filter's bandwidth.
In this thesis, we present several lemmas regarding the determination of the bandwidth, from which a procedure is developed that can exactly compute the threshold of the bandwidth, so that robust stability (against parametric variations of the plant within a prescribed range) is lost if the bandwidth of the Q-filter becomes lower than that. The proposed procedure is implemented in a MATLAB toolbox named DO-DAT, which is now available at https://do-dat.github.io. | - |
dc.description.abstract | 외란 관측기가 널리 활용됨에 따라 외란 관측기가 가지는 다양한 측면이 이론적으로 연구되어 왔다. 특히, Q-필터를 기반으로 하는 단일 입출력 외란 관측기를 포함하는 선형 폐루프 시스템의 강인 안정성에 대해 많은 연구가 이루어졌으며 결국 폐 루프 시스템의 강인 안정성에 대한 필요 충분 조건이 제안된 바 있다. 그러나 제안된 필요 충분 조건은 충분히 큰 Q-필터의 대역폭을 전제하는데, 폐 루프 시스템의 강인 안정성을 보장하기 위해 필요한 Q-필터의 최소 대역폭을 정확히 알아내는 방법은 제시된 바 없다.
본 학위논문에서는 몇 가지 보조정리와 함께 Q-필터 기반 외란 관측기가 포함된 폐 루프 시스템의 강인 안정성을 보장하는 Q-필터의 최소 대역폭을 정확히 계산할 수 있는 방법론을 제안한다. 본 학위논문에서 제안하는 방법론은 DO-DAT이라는 이름의 MATLAB 툴박스로 구현되어 있으며 관련 내용은 https://do-dat.github.io에서 확인할 수 있다. | - |
dc.description.tableofcontents | ABSTRACT i
List of Figures vii Notation and Symbols ix 1 Introduction 1 1.1 Overview of Q-filter-based Disturbance Observer . . . . . . . . . . 3 1.2 Necessary and Sufficient Condition for Robust Stability . . . . . . 4 2 Lemmas on Robust Stability of Closed-loop System 7 2.1 Observations on Characteristic Polynomial . . . . . . . . . . . . . . 7 2.2 Application of Edge theorem and Bialas' theorem . . . . . . . . . . 11 3 Computation of Minimum Bandwidth of Q-filter for Robust Stability 15 3.1 Procedure for Computing τ . . . . . . . . . . . . . . . . . . . . . . 15 3.2 Examples and Simulations . . . . . . . . . . . . . . . . . . . . . . . 17 4 DO-DAT: a MATLAB Toolbox for Design and Analysis of Disturbance Observer 21 4.1 Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 4.1.1 setup_sys.m . . . . . . . . . . . . . . . . . . . . . . . . . . 22 4.2 Design of Coefficients of Q-filter . . . . . . . . . . . . . . . . . . . . 23 4.2.1 gen_Qcanon.m . . . . . . . . . . . . . . . . . . . . . . . . . 23 4.2.2 isFastDynamicsStable.m . . . . . . . . . . . . . . . . . . . . 24 4.3 Determination of Bandwidth of Q-filter . . . . . . . . . . . . . . . . 25 4.3.1 isValidTau.m . . . . . . . . . . . . . . . . . . . . . . . . . . 26 4.3.2 get_supTau.m . . . . . . . . . . . . . . . . . . . . . . . . . 27 5 Conclusion 29 APPENDIX 31 A.1 Edge theorem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 A.2 Bialas' theorem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 A.3 Routh-Hurwitz Stability Criterion . . . . . . . . . . . . . . . . . . . 32 A.4 Sturm's theorem . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 BIBLIOGRAPHY 35 국문초록 39 | - |
dc.format.extent | ix, 39 | - |
dc.language.iso | eng | - |
dc.publisher | 서울대학교 대학원 | - |
dc.subject | Disturbance observer | - |
dc.subject | disturbance rejection | - |
dc.subject | robust stability | - |
dc.subject | nominal performance recovery | - |
dc.subject | uncertain polynomials | - |
dc.subject | 외란 관측기 | - |
dc.subject | 외란 제거 | - |
dc.subject | 강인 안정성 | - |
dc.subject | 공칭 성능 회복 | - |
dc.subject | 불확실한 다항식 | - |
dc.subject.ddc | 621.3 | - |
dc.title | Computation of minimum bandwidth of Q-filter for robust stability of disturbance observer-based control systems | - |
dc.title.alternative | 외란 관측기 기반 제어 시스템의 강인 안정성을 위한 Q-필터의 최소 대역폭 계산 | - |
dc.type | Thesis | - |
dc.type | Dissertation | - |
dc.contributor.AlternativeAuthor | Hamin Chang | - |
dc.contributor.department | 공과대학 전기·정보공학부 | - |
dc.description.degree | Master | - |
dc.date.awarded | 2021-02 | - |
dc.identifier.uci | I804:11032-000000164996 | - |
dc.identifier.holdings | 000000000044▲000000000050▲000000164996▲ | - |
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