摘要
干擾觀測器可以達成即時線上觀測對系統的未知干擾。早期的干擾觀測器只能針對某些種類的干擾進行估測，在此篇論文中提出了一個新的頻域塑形觀測器。此種頻域塑形觀測器展現了一個類比的設計方法相對於回授控制系統的控制器設計。藉由此種類比設計方法的優勢，我們能夠藉由H∞的控制器設計技巧，來達成此種頻域塑形觀測器的系統化設計。此種觀測器建立在頻域設計上，不只考慮了估測的能力，同時兼顧了系統的不確定性與雜訊對系統的敏感度的影響，並且可以用來估測大部分的干擾。如果將此種觀測器運用在干擾抑制控制上的話，被控制的系統的行為將會相似於名義系統(nominal system)，而不會受到外在干擾與系統的未知性的影響。
並列摘要
A disturbance observer is to achieve on-line estimation of the unknown disturbance acting on a linear dynamic system. This thesis proposes a frequency shaping design of a disturbance observer that was originally proposed for estimation of special classes of disturbances. It is shown that the structure of the disturbance observer exhibits an analogy to that of a feedback control system. By taking advantage of this analogy, one can perform systematic frequency shaping re-design of the disturbance observer via the H∞ control techniques. The proposed design is a frequency domain design that takes into account not only the estimation tracking ability, but also system uncertainties, and sensitivity with respect to measurement noise. The new design, unlike its ancestor, can be used to estimate most general disturbances encountered in the real world, including potentially unbounded disturbances. If one applied the proposed disturbance observer to the synthesis of disturbance rejection control, the controlled system is forced to behave as a nominal system without the interference of external disturbances or system uncertainties.