Optimal Decoupled Disturbance Observers for Dual-Input Single-Output Systems

A controller design is presented for directly shaping the sensitivity function in the feedback control of dual-input single-output (DISO) systems. We provide special forms of discrete-time Youla-Kucera (YK) parameterization to obtain stabilizing controllers for DISO systems, and discuss concepts to achieve a reduced-complexity formulation. The proposed YK parameterization is based on an inverse of the loop transfer function, which gives benefits such as clearer design intuition and reduced complexity in construction. The algorithm is verified by simulations and experiments on hard disk drive systems, with application to wideband vibration and harmonic disturbance rejections.

Journal article