Performance enhancement for a class of hysteresis nonlinearities using disturbance observers |
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Authors: | Mohammad Al Janaideh Ahmed H El-Shaer |
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Affiliation: | 1. Department of Mechatronics Engineering, The University of Jordan, Amman, 11942, Jordan 2. R&D Engineer at Brooks Instrument, Hatfield, PA, USA
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Abstract: | This paper addresses performance enhancement using disturbance observers (DOBs) for a class of hysteresis nonlinearities characterized by the Prandtl-Ishlinskii model. The proposed approach makes use of internal model-based estimation of exogenous disturbances. The synthesis of the DOB is formulated as an H ∞ weighted-sensitivity optimization for static output feedback (SOF) gain of a Luenberger observer. A linearization approach is then implemented to solve the rank-constrained (nonconvex) constrained semi-definite program (SDP) for the (sub) optimal static gain. Simulation results indicate that the closed-loop tracking performance is indeed enhanced using the DOB for reference inputs at different excitation frequencies. |
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