Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Stability and Robustness of the Disturbance Observer-based Motion
  Control Systems in Discrete-Time Domain   This paper analyses the robust stability and performance of the Disturbance
Observer- (DOb-) based digital motion control systems in discrete-time domain.
It is shown that the phase margin and the robustness of the digital motion
controller can be directly adjusted by tuning the nominal plant model and the
bandwidth of the observer. However, they have upper and lower bounds due to
robust stability and performance constraints as well as noise-sensitivity. The
constraints on the design parameters of the DOb change when the digital motion
controller is synthesised by measuring different states of a servo system. For
example, the bandwidth of the DOb is limited by noise-sensitivity and waterbed
effect when velocity and position measurements are employed in the digital
robust motion controller synthesis. The robustness constraint due to the
waterbed effect is removed when the DOb is implemented by acceleration
measurement. The design constraints on the nominal plant model and the
bandwidth of the observer are analytically derived by employing the generalised
Bode Integral Theorem in discrete-time. The proposed design constraints allow
one to systematically synthesise a high-performance DOb-based digital robust
motion controller. Experimental results are given to verify the proposed
analysis and synthesis methods.

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The categories of this paper are: bayes-an
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The categories of this paper are: patt-sol
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The categories of this paper are: chem-ph
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The categories of this paper are: cmp-lg
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The categories of this paper are: adap-org
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The categories of this paper are: econ
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The categories of this paper are: funct-an
3
The categories of this paper are: physics
12
The categories of this paper are: nucl-th
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The categories of this paper are: supr-con
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The categories of this paper are: comp-gas
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The categories of this paper are: hep-ph
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The categories of this paper are: ao-sci
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The categories of this paper are: hep-th
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The categories of this paper are: q-bio
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The categories of this paper are: math-ph