General design of disturbance observer for stable linear time-invariant single-input/single-output systems via an H∞ approach

Abstract

In this paper, a generalized design of a disturbance observer is presented for a class of stable linear time-invariant single-input single-output (SISO) systems. First, a general configuration of a disturbance observer is proposed when control input and system output are available. Then, the design problem of minimizing the disturbance estimation error is generally formulated as an H