Development of nonlinear disturbance observer based control and nonlinear PID: A personal note

Abstract This paper gives an overview of early development of nonlinear disturbance observer design technique and the disturbance observer based control (DOBC) design. Some critical points raised in the development of the methods have been reviewed and discussed which are still relevant for many res...
Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Chen, Wen-Hua [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2018

Schlagwörter:	Disturbance observer nonlinear control PID controller disturbance observer based control

Anmerkung:	© South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Übergeordnetes Werk:	Enthalten in: Journal of control theory and applications - Guangzhou, 2003, 16(2018), 4 vom: Nov., Seite 284-300
Übergeordnetes Werk:	volume:16 ; year:2018 ; number:4 ; month:11 ; pages:284-300

Links:	Volltext

DOI / URN:	10.1007/s11768-018-8135-9

Katalog-ID:	SPR022317279

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allfields	10.1007/s11768-018-8135-9 doi (DE-627)SPR022317279 (SPR)s11768-018-8135-9-e DE-627 ger DE-627 rakwb eng Chen, Wen-Hua verfasserin aut Development of nonlinear disturbance observer based control and nonlinear PID: A personal note 2018 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag GmbH Germany, part of Springer Nature 2018 Abstract This paper gives an overview of early development of nonlinear disturbance observer design technique and the disturbance observer based control (DOBC) design. Some critical points raised in the development of the methods have been reviewed and discussed which are still relevant for many researchers or practitioners who are interested in this method. The review is followed by the development of a new type of nonlinear PID controller for a robotic manipulator and its experimental tests. It is shown that, under a number of assumptions, the DOBC consisting of a predictive control method and a nonlinear disturbance observer could reduce to a nonlinear PID with special features. Experimental results show that, compared with the predictive control method, the developed controller significantly improves performance robustness against uncertainty and friction. This paper may trigger further research and interests in the development of DOBC and related methods, and building up more understanding between this group of control methods with comparable ones (particularly control methods with integral action). Disturbance observer (dpeaa)DE-He213 nonlinear control (dpeaa)DE-He213 PID controller (dpeaa)DE-He213 disturbance observer based control (dpeaa)DE-He213 Enthalten in Journal of control theory and applications Guangzhou, 2003 16(2018), 4 vom: Nov., Seite 284-300 (DE-627)529093456 (DE-600)2299595-X 1993-0623 nnns volume:16 year:2018 number:4 month:11 pages:284-300 https://dx.doi.org/10.1007/s11768-018-8135-9 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_121 GBV_ILN_138 GBV_ILN_152 GBV_ILN_161 GBV_ILN_171 GBV_ILN_187 GBV_ILN_206 GBV_ILN_224 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_374 GBV_ILN_602 GBV_ILN_647 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2018 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2036 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2064 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2119 GBV_ILN_2129 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2548 GBV_ILN_2700 GBV_ILN_2817 AR 16 2018 4 11 284-300
spelling	10.1007/s11768-018-8135-9 doi (DE-627)SPR022317279 (SPR)s11768-018-8135-9-e DE-627 ger DE-627 rakwb eng Chen, Wen-Hua verfasserin aut Development of nonlinear disturbance observer based control and nonlinear PID: A personal note 2018 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag GmbH Germany, part of Springer Nature 2018 Abstract This paper gives an overview of early development of nonlinear disturbance observer design technique and the disturbance observer based control (DOBC) design. Some critical points raised in the development of the methods have been reviewed and discussed which are still relevant for many researchers or practitioners who are interested in this method. The review is followed by the development of a new type of nonlinear PID controller for a robotic manipulator and its experimental tests. It is shown that, under a number of assumptions, the DOBC consisting of a predictive control method and a nonlinear disturbance observer could reduce to a nonlinear PID with special features. Experimental results show that, compared with the predictive control method, the developed controller significantly improves performance robustness against uncertainty and friction. This paper may trigger further research and interests in the development of DOBC and related methods, and building up more understanding between this group of control methods with comparable ones (particularly control methods with integral action). Disturbance observer (dpeaa)DE-He213 nonlinear control (dpeaa)DE-He213 PID controller (dpeaa)DE-He213 disturbance observer based control (dpeaa)DE-He213 Enthalten in Journal of control theory and applications Guangzhou, 2003 16(2018), 4 vom: Nov., Seite 284-300 (DE-627)529093456 (DE-600)2299595-X 1993-0623 nnns volume:16 year:2018 number:4 month:11 pages:284-300 https://dx.doi.org/10.1007/s11768-018-8135-9 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_121 GBV_ILN_138 GBV_ILN_152 GBV_ILN_161 GBV_ILN_171 GBV_ILN_187 GBV_ILN_206 GBV_ILN_224 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_374 GBV_ILN_602 GBV_ILN_647 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2018 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2036 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2064 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2119 GBV_ILN_2129 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2548 GBV_ILN_2700 GBV_ILN_2817 AR 16 2018 4 11 284-300
allfields_unstemmed	10.1007/s11768-018-8135-9 doi (DE-627)SPR022317279 (SPR)s11768-018-8135-9-e DE-627 ger DE-627 rakwb eng Chen, Wen-Hua verfasserin aut Development of nonlinear disturbance observer based control and nonlinear PID: A personal note 2018 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag GmbH Germany, part of Springer Nature 2018 Abstract This paper gives an overview of early development of nonlinear disturbance observer design technique and the disturbance observer based control (DOBC) design. Some critical points raised in the development of the methods have been reviewed and discussed which are still relevant for many researchers or practitioners who are interested in this method. The review is followed by the development of a new type of nonlinear PID controller for a robotic manipulator and its experimental tests. It is shown that, under a number of assumptions, the DOBC consisting of a predictive control method and a nonlinear disturbance observer could reduce to a nonlinear PID with special features. Experimental results show that, compared with the predictive control method, the developed controller significantly improves performance robustness against uncertainty and friction. This paper may trigger further research and interests in the development of DOBC and related methods, and building up more understanding between this group of control methods with comparable ones (particularly control methods with integral action). Disturbance observer (dpeaa)DE-He213 nonlinear control (dpeaa)DE-He213 PID controller (dpeaa)DE-He213 disturbance observer based control (dpeaa)DE-He213 Enthalten in Journal of control theory and applications Guangzhou, 2003 16(2018), 4 vom: Nov., Seite 284-300 (DE-627)529093456 (DE-600)2299595-X 1993-0623 nnns volume:16 year:2018 number:4 month:11 pages:284-300 https://dx.doi.org/10.1007/s11768-018-8135-9 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_121 GBV_ILN_138 GBV_ILN_152 GBV_ILN_161 GBV_ILN_171 GBV_ILN_187 GBV_ILN_206 GBV_ILN_224 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_374 GBV_ILN_602 GBV_ILN_647 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2018 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2036 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2064 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2119 GBV_ILN_2129 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2548 GBV_ILN_2700 GBV_ILN_2817 AR 16 2018 4 11 284-300
allfieldsGer	10.1007/s11768-018-8135-9 doi (DE-627)SPR022317279 (SPR)s11768-018-8135-9-e DE-627 ger DE-627 rakwb eng Chen, Wen-Hua verfasserin aut Development of nonlinear disturbance observer based control and nonlinear PID: A personal note 2018 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag GmbH Germany, part of Springer Nature 2018 Abstract This paper gives an overview of early development of nonlinear disturbance observer design technique and the disturbance observer based control (DOBC) design. Some critical points raised in the development of the methods have been reviewed and discussed which are still relevant for many researchers or practitioners who are interested in this method. The review is followed by the development of a new type of nonlinear PID controller for a robotic manipulator and its experimental tests. It is shown that, under a number of assumptions, the DOBC consisting of a predictive control method and a nonlinear disturbance observer could reduce to a nonlinear PID with special features. Experimental results show that, compared with the predictive control method, the developed controller significantly improves performance robustness against uncertainty and friction. This paper may trigger further research and interests in the development of DOBC and related methods, and building up more understanding between this group of control methods with comparable ones (particularly control methods with integral action). Disturbance observer (dpeaa)DE-He213 nonlinear control (dpeaa)DE-He213 PID controller (dpeaa)DE-He213 disturbance observer based control (dpeaa)DE-He213 Enthalten in Journal of control theory and applications Guangzhou, 2003 16(2018), 4 vom: Nov., Seite 284-300 (DE-627)529093456 (DE-600)2299595-X 1993-0623 nnns volume:16 year:2018 number:4 month:11 pages:284-300 https://dx.doi.org/10.1007/s11768-018-8135-9 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_121 GBV_ILN_138 GBV_ILN_152 GBV_ILN_161 GBV_ILN_171 GBV_ILN_187 GBV_ILN_206 GBV_ILN_224 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_374 GBV_ILN_602 GBV_ILN_647 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2018 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2036 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2064 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2119 GBV_ILN_2129 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2548 GBV_ILN_2700 GBV_ILN_2817 AR 16 2018 4 11 284-300
allfieldsSound	10.1007/s11768-018-8135-9 doi (DE-627)SPR022317279 (SPR)s11768-018-8135-9-e DE-627 ger DE-627 rakwb eng Chen, Wen-Hua verfasserin aut Development of nonlinear disturbance observer based control and nonlinear PID: A personal note 2018 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag GmbH Germany, part of Springer Nature 2018 Abstract This paper gives an overview of early development of nonlinear disturbance observer design technique and the disturbance observer based control (DOBC) design. Some critical points raised in the development of the methods have been reviewed and discussed which are still relevant for many researchers or practitioners who are interested in this method. The review is followed by the development of a new type of nonlinear PID controller for a robotic manipulator and its experimental tests. It is shown that, under a number of assumptions, the DOBC consisting of a predictive control method and a nonlinear disturbance observer could reduce to a nonlinear PID with special features. Experimental results show that, compared with the predictive control method, the developed controller significantly improves performance robustness against uncertainty and friction. This paper may trigger further research and interests in the development of DOBC and related methods, and building up more understanding between this group of control methods with comparable ones (particularly control methods with integral action). Disturbance observer (dpeaa)DE-He213 nonlinear control (dpeaa)DE-He213 PID controller (dpeaa)DE-He213 disturbance observer based control (dpeaa)DE-He213 Enthalten in Journal of control theory and applications Guangzhou, 2003 16(2018), 4 vom: Nov., Seite 284-300 (DE-627)529093456 (DE-600)2299595-X 1993-0623 nnns volume:16 year:2018 number:4 month:11 pages:284-300 https://dx.doi.org/10.1007/s11768-018-8135-9 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_121 GBV_ILN_138 GBV_ILN_152 GBV_ILN_161 GBV_ILN_171 GBV_ILN_187 GBV_ILN_206 GBV_ILN_224 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_374 GBV_ILN_602 GBV_ILN_647 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2018 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2036 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2064 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2119 GBV_ILN_2129 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2548 GBV_ILN_2700 GBV_ILN_2817 AR 16 2018 4 11 284-300
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author	Chen, Wen-Hua
spellingShingle	Chen, Wen-Hua misc Disturbance observer misc nonlinear control misc PID controller misc disturbance observer based control Development of nonlinear disturbance observer based control and nonlinear PID: A personal note
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topic_title	Development of nonlinear disturbance observer based control and nonlinear PID: A personal note Disturbance observer (dpeaa)DE-He213 nonlinear control (dpeaa)DE-He213 PID controller (dpeaa)DE-He213 disturbance observer based control (dpeaa)DE-He213
topic	misc Disturbance observer misc nonlinear control misc PID controller misc disturbance observer based control
topic_unstemmed	misc Disturbance observer misc nonlinear control misc PID controller misc disturbance observer based control
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title	Development of nonlinear disturbance observer based control and nonlinear PID: A personal note
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title_full	Development of nonlinear disturbance observer based control and nonlinear PID: A personal note
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title_sort	development of nonlinear disturbance observer based control and nonlinear pid: a personal note
title_auth	Development of nonlinear disturbance observer based control and nonlinear PID: A personal note
abstract	Abstract This paper gives an overview of early development of nonlinear disturbance observer design technique and the disturbance observer based control (DOBC) design. Some critical points raised in the development of the methods have been reviewed and discussed which are still relevant for many researchers or practitioners who are interested in this method. The review is followed by the development of a new type of nonlinear PID controller for a robotic manipulator and its experimental tests. It is shown that, under a number of assumptions, the DOBC consisting of a predictive control method and a nonlinear disturbance observer could reduce to a nonlinear PID with special features. Experimental results show that, compared with the predictive control method, the developed controller significantly improves performance robustness against uncertainty and friction. This paper may trigger further research and interests in the development of DOBC and related methods, and building up more understanding between this group of control methods with comparable ones (particularly control methods with integral action). © South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag GmbH Germany, part of Springer Nature 2018
abstractGer	Abstract This paper gives an overview of early development of nonlinear disturbance observer design technique and the disturbance observer based control (DOBC) design. Some critical points raised in the development of the methods have been reviewed and discussed which are still relevant for many researchers or practitioners who are interested in this method. The review is followed by the development of a new type of nonlinear PID controller for a robotic manipulator and its experimental tests. It is shown that, under a number of assumptions, the DOBC consisting of a predictive control method and a nonlinear disturbance observer could reduce to a nonlinear PID with special features. Experimental results show that, compared with the predictive control method, the developed controller significantly improves performance robustness against uncertainty and friction. This paper may trigger further research and interests in the development of DOBC and related methods, and building up more understanding between this group of control methods with comparable ones (particularly control methods with integral action). © South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag GmbH Germany, part of Springer Nature 2018
abstract_unstemmed	Abstract This paper gives an overview of early development of nonlinear disturbance observer design technique and the disturbance observer based control (DOBC) design. Some critical points raised in the development of the methods have been reviewed and discussed which are still relevant for many researchers or practitioners who are interested in this method. The review is followed by the development of a new type of nonlinear PID controller for a robotic manipulator and its experimental tests. It is shown that, under a number of assumptions, the DOBC consisting of a predictive control method and a nonlinear disturbance observer could reduce to a nonlinear PID with special features. Experimental results show that, compared with the predictive control method, the developed controller significantly improves performance robustness against uncertainty and friction. This paper may trigger further research and interests in the development of DOBC and related methods, and building up more understanding between this group of control methods with comparable ones (particularly control methods with integral action). © South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag GmbH Germany, part of Springer Nature 2018
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title_short	Development of nonlinear disturbance observer based control and nonlinear PID: A personal note
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Development of nonlinear disturbance observer based control and nonlinear PID: A personal note

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