| Title |
Low-Order Dynamic Output Feedback Controller Design Against Measurement Noise |
| Authors |
손영익(Son, Young-Ik) ; 조남훈(Jo, Nam-Hoon) ; 심형보(Shim, Hyung-Bo) |
| Keywords |
Dynamic Output Feedback ; Low-Order Controller ; Low-Pass Filter ; Static Output Feedback ; Rotary Inverted Pendulum |
| Abstract |
This paper considers a low-order dynamic output feedback controller design problem. Since the proposed control law inherently has a low-pass filter property, it can alleviate the mal-effects of the sensor noise without additional filter designs. Frequency domain analysis shows the characteristics of the proposed control law against measurement noise. The effectiveness of the proposed control law is illustrated by numerical simulations with a rotary inverted pendulum and a convey-crane. Using only one integrator the proposed control law has the advantage to the stabilization problem with sensor noise as well as it can successfully replace the measurements of derivative terms in a state feedback control law. |