DO-DAT: A MATLAB toolbox for design & analysis of disturbance observer

Abstract

Although the disturbance observer (DOB)-based controller has been extensively applied and various theoretical results on the DOB have been presented, the exclusive, user-friendly, and unified tool for the computer-aided design of DOB has not been developed yet. In this paper, the MATLAB toolbox DO-DAT (Disturbance Observer - Design Analysis Toolbox) is introduced. Particularly, we explain the way of using the toolbox and present the applications of main functions in terms of the stabilization of the system and the time-domain performance analysis. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.