Disturbance Rejection and Control System Design Using {1}-Inverse-Based Equivalent-Input-Disturbance Approach

Qicheng Mei, Jinhua She, Feng Wang, Yosuke Nakanishi, Hiroshi Hashimoto, Daisuke Chugo

Research output: Contribution to journalArticlepeer-review


This study developed an improved equivalent-input-disturbance (EID) approach that rejects disturbances for a plant. A control system based on the approach includes an improved EID estimator, which is newly devised using a {1} inverse of the plant input matrix. Compared with a conventional EID estimator, the improved EID estimator has an additional free matrix. This free matrix enables the control system to improve the disturbance-rejection performance but not increase the configuration complexity. An analysis of the control system explains how the free matrix improves the disturbance-rejection performance. Experiments of a posture-control system for a Stewart platform demonstrate the validity of the approach.

Original languageEnglish
JournalIEEE Transactions on Industrial Electronics
Publication statusAccepted/In press - 2022


  • Complexity theory
  • Control systems
  • disturbance rejection
  • equivalent input disturbance (EID)
  • Indexes
  • Observers
  • Sensitivity
  • State feedback
  • Steady-state
  • Stewart platform
  • {1} inverse

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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