Data-based simultaneous design of plant model and robust filter in disturbance observer

Disturbance observer is a widely-used tool in the industrial field to reject the influence of disturbance and trial-and-error method is commonly employed in its design. This paper designed the plant model and low pass filter automatically in disturbance observer configuration by only using frequency response data. The design problem has been formulated into a convex optimization problem by mathematical calculation process. Finally, simulation and experiment results have verified the effectiveness of the proposal.