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Conference Paper
Robust-Stability-Based Analysis of the Behavior of Disturbance-Observer-Relevant Identification
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- Authors
- Hanul Jung, Paul Tacx, Tom Oomen, Sehoon Oh
- Issue Date
- 2026-03
- Citation
- IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON) 2026, pp.415-420
- Publisher
- IEEJ
- Language
- English
- Type
- Conference Paper
- Abstract
- This paper studies Disturbance Observer (DOB)-relevant parametric identification for Single-Input-Single- Output (SISO) systems, with the objective of obtaining a nominal model that satisfies the robust stability requirement of the disturbance observer. The analysis clarifies how the identification procedure shapes the nominal model in frequency regions where the DOB is sensitive to multiplicative uncertainty, and shows that this behavior is inherently determined by the identification criterion and its frequency-dependent weighting. Furthermore, it is explained that the iterative weighted least-squares structure progressively approximates the small-gain condition associated with DOB stability, thereby guiding the identification toward a stability-oriented nominal model. Simulation results validate the interpretation by demonstrating that the identified models exhibit properties favorable for robust DOB operation.
- Keyword
- Disturbance Observer, Robust Stability, Control-Relevant Identification, Frequency-Domain Identification, Flexible Mechanical System
- KSP Keywords
- Control-relevant identification, Frequency domain(FD), Frequency-dependent, Least Square(LS), Multiplicative uncertainty, Nominal model, Parametric Identification, Single-input, Small-gain, Stability-based, disturbance observer(DOB)