Angle-domain internal model control via a time-varying Kalman filter

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations


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 languageEnglish (US)
Title of host publication2017 American Control Conference, ACC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages5
ISBN (Electronic)9781509059928
StatePublished - Jun 29 2017
Event2017 American Control Conference, ACC 2017 - Seattle, United States
Duration: May 24 2017May 26 2017

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2017 American Control Conference, ACC 2017
Country/TerritoryUnited States

Bibliographical note

Publisher Copyright:
© 2017 American Automatic Control Council (AACC).


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