The well-known theory of disturbance rejection control and the experience of using a generalized technique with universal fault model for building observers and regulators for the estimation and compensation of disturbances and unmodeled or uncertain effects as well, could be used for controlling dynamic systems with time varying parameters and nonlinearities.

Based on a linear time-invariant model the effects of non-linearities and unmodeled dynamics are estimated by an extended observer scheme. Using this information these dynamic effects will be compensated by the developed compensation scheme.

Here also different compensation techniques of disturbance rejection control are discussed, compared, and modified.

The simulation example of an inverted flexible pendulum shows the efficiency of the method controlling an unstable mechanical system without exact knowledge of structure and parameters of nonlinearity and time-variance.

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