Angle-domain structured disturbances refer to disturbances that satisfy a dynamic structure in a generic angle variable which is monotonically increasing with time but not uniformly. A difficulty in designing controllers to compensate for such angle-domain structured disturbances is that the system is invariably either time-varying or angle-varying. This paper uses the affine parameterization control design perspective and proposes a straight forward design procedure that utilizes a time-varying Kalman filter to estimate the disturbance state and a feedforward controller to install the disturbance cancellation. A sandwiched system is assumed where the input and output plants can be non-minimum phase. With non-minimum phase input plants, approximate feedforward controls are proposed to avoid the need for full future information on the angular rate.
|Original language||English (US)|
|Title of host publication||2017 American Control Conference, ACC 2017|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||5|
|State||Published - Jun 29 2017|
|Event||2017 American Control Conference, ACC 2017 - Seattle, United States|
Duration: May 24 2017 → May 26 2017
|Name||Proceedings of the American Control Conference|
|Other||2017 American Control Conference, ACC 2017|
|Period||5/24/17 → 5/26/17|
Bibliographical notePublisher Copyright:
© 2017 American Automatic Control Council (AACC).