Application of disturbance observer-based control in low-level radio-frequency system in a compact energy recovery linac at KEK

A disturbance observer (DOB)-based control for a digital low-level radio-frequency (LLRF) system in a compact energy recovery linac (cERL) at KEK has been developed. The motivation for this control approach is to compensate for or suppress the disturbance signal in the rf system such as beam loading, power supply ripples, and microphonics. Disturbance signals in specified frequency ranges were observed and reconstructed accurately in the field-programmable gate array and were then removed in the feedforward model in real time. The key component in this DOB controller is a disturbance observer, which includes the inverse mathematical model of the rf plant. In this paper, we have designed a DOB control-based approach in order to improve the LLRF system performance in disturbance rejection. We have confirmed this approach in the cERL beam commissioning.