Arbitrarily large gain/phase margin can be achieved by DOB-based controller

Abstract

In this paper, we prove that the DOB-based feedback controller can guarantee arbitrarily large but bounded gain margin and phase margin. This fact reminds that the DOB-based controller plays the role of robust controller even in the classical sense. We present a design procedure that ensures desired gain/phase margin even for the plants that have parametric uncertainty. © 2016 Institute of Control, Robotics and Systems - ICROS.