一种基于干扰观测器的内模控制方法

为保证内模控制的可实现性以及满足鲁棒性需要引入滤波器,但是滤波器的存在会导致跟踪滞后和无法有效抑制正弦扰动。针对这一问题本文提出了一种基于干扰观测器（DO）的内模控制方法。该方法能够抑制由阶跃扰动和正弦扰动组成的复合扰动：通过观测器可以对正弦干扰进行观测和补偿,内模控制器抑制阶跃干扰和观测器的补偿误差。对单机械臂的仿真证明了该方法的有效性。

A High Precision Internal Mode Controller Based on Disturbance Observer

To ensure the realization of controller and satisfy the robustness of system, the filter is always introduced in the design process of internal mode controller. The existence of the filter results in tracking lag inevitably and unable to effectively suppress sinusoidal disturbances. To solve the problem, this paper proposes a method based on disturbance observer （DO）. The method can suppress the composite disturbance consisted of step and sinusoidal signal,in which the disturbance observer is estimated to compensate the simmoidal si~,~ int~ mode con- troller to reject step disturbance and observation error. The simulation of single manipulator confirms the effectiveness of the method.