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Two Stage Control Method Using a Disturbance Observer and a Kalman Filter

By Hiromitsu Ogawa, Manato Ono, Naohiro Ban and Yoshihisa Ishida

Abstract

Abstract—This paper describes the two stage control using a disturbance observer and a Kalman filter. The system feedback uses the estimated state when it controls the speed. After the change-over point, its feedback uses the controlled plant output when it controls the position. To change the system continually, a change-over point has to be determined pertinently, and the controlled plant input has to be adjusted by the addition of the appropriate value. The proposed method has noise-reduction effect. It changes the system continually, even if the controlled plant identification has the error. Although the conventional method needs a speed sensor, the proposed method does not need it. The proposed method has a superior robustness compared with the conventional two stage control

Topics: Kalman Filter, Optimal Control, Two Stage Control
Year: 2011
OAI identifier: oai:CiteSeerX.psu:10.1.1.193.2378
Provided by: CiteSeerX
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