Frequency Response Data-based Disturbance Observer Design via Convex Optimization

Abstract To estimate and compensate disturbances effectively, disturbance observer (DOB) has been widely employed in industrial field. This paper is dedicated to designing DOB by directly utilizing frequency response data. By transforming all the non-convex constraints into convex form, the bandwidth of DOB is maximized through iterative convex optimization process. Simulation results have verified the effectiveness of the proposed method.