QDOB - Quasi-periodic Disturbance Observer

This is a control algorithm of the quasi-periodic disturbance observer (QDOB) proposed in the preprint [1]. It is implemented for a position control simulation of a mechanical system 1/(Ms^2) under harmonic disturbances with an outer proportional-derivative position controller in C++.

The QDOB is used to estimate and compensate for a quasi-periodic disturbance, including harmonics. It is two-degree-of-freedom control affecting only disturbance suppression and is usually used with command tracking control. The QDOB has the following three characteristics.

1. Wideband harmonic elimination
2. Robustness against variations (quasi-periodicity) of a disturbance
3. Non-amplification of aperiodic disturbances and non-deviation of harmonic suppression frequencies

When you want to tune the hyperparameters, see the preprint [1].

[1] Hisayoshi Muramatsu, “Quasi-periodic Disturbance Observer for Wideband Harmonic Suppression,” arXiv, arXiv:2406.00362, Jun. 2024. (https://arxiv.org/abs/2406.00362)

Licence

MIT License © Hisayoshi Muramatsu