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Avtomat. i Telemekh., 2020, Issue 9, Pages 3–61 (Mi at15348)  

This article is cited in 1 scientific paper (total in 1 paper)

Nonlinear Systems

Disturbance observers: methods and applications. I. Methods

B. R. Andrievskyabc*, I. B. Furtatad

a Institute for Problems in Mechanical Engineering, Russian Academy of Sciences, St. Petersburg, Russia
b St. Petersburg State University, St. Petersburg, Russia
c Baltic State Technical University, St. Petersburg, Russia
d ITMO University, St. Petersburg, Russia

Abstract: The survey is devoted to an exposition of the history of development and the current state of theoretical methods for constructing disturbance observers, whose appearance in control theory and practice dates back to the middle of the 1960s and is associated with the expansion of algebraic methods in controller synthesis, the emergence of computer-based synthesis procedures, the need to solve more and more complex problems, and the desire to optimize the control process. The survey describes observers of harmonic disturbances, outlines the internal model principle, considers observers of bounded disturbances, and describes methods for estimating disturbances using auxiliary filters in the form of transfer functions and state observers.

Keywords: disturbance, evaluation, observer.

Funding Agency Grant Number
Russian Foundation for Basic Research 18-38-20037
Ministry of Science and Higher Education of the Russian Federation -19-119120290136-9
The results of Sections 14 were obtained with the financial support of the Russian Foundation for Basic Research, project no. 18-38-20037. Results shown in Section 5 were obtained at the Institute of Mathematics and Mechanics of the Russian Academy of Sciences within the framework of the state assignment of the Ministry of Education and Science of the Russian Federation, reg. no. NIOKTR AAAA-A19-119120290136-9.

* Author to whom correspondence should be addressed

DOI: https://doi.org/10.31857/S0005231020090019

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English version:
Automation and Remote Control, 2020, 81:9, 1563–1610

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Presented by the member of Editorial Board: . . 

Received: 20.09.2019
Revised: 10.05.2020
Accepted: 25.05.2020

Citation: B. R. Andrievsky, B. R. Andrievsky, I. B. Furtat, “Disturbance observers: methods and applications. I. Methods”, Avtomat. i Telemekh., 2020, no. 9, 3–61; Autom. Remote Control, 81:9 (2020), 1563–1610

Citation in format AMSBIB
\by B.~R.~Andrievsky, B.~R.~Andrievsky, I.~B.~Furtat
\paper Disturbance observers: methods and applications. I. Methods
\jour Avtomat. i Telemekh.
\yr 2020
\issue 9
\pages 3--61
\jour Autom. Remote Control
\yr 2020
\vol 81
\issue 9
\pages 1563--1610

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    This publication is cited in the following articles:
    1. B. R. Andrievsky, I. B. Furtat, “Disturbance observers: methods and applications. II. Applications”, Autom. Remote Control, 81:10 (2020), 1775–1818  mathnet  crossref  crossref  isi  elib
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