Robust stabilization of constrained uncertain linear systems using feedforward control based on high-gain disturbance observer

Abstract

This paper proposes a robust stabilizing control for constrained uncertain linear systems by combining a disturbance observer (DOB) and state feedback controller. To this end, a state feedback controller is designed for the nominal system and then a disturbance observer based feedforward control is added in order to reject uncertainties. In doing so, the DOB and state feedback controller are united in a way that the combined control satisfies the input constraints and closed loop stability is guaranteed. Simulation results are given to show that the proposed control scheme successfully stabilizes the uncertain systems.