System comprising robust optimal disturbance observer for high-precision position control performed by electronic device, and control method therefor

A system comprising a robust optimal disturbance observer for high precision position control performed by an electronic device, comprising:

• a plant P to be controlled;
• a controller C;
• a first weight function W1;
• a second weight function W2;
• and
• a disturbance observer, wherein
• the first weight function W1 receives a difference value between a disturbance w and an output UDO of the disturbance observer as an input value,
• the second weight function W2 receives a difference value between an output value of the controller C and the output UDO of the disturbance observer as an input value,
• the plant P to be controlled receives, as an input value, a sum value of the disturbance W and the difference value between the output value of the controller C and the output UDO of the disturbance observer, and
• the controller C receives an output value of the plant P to be controlled as an input value, wherein
• the first weight function W1 is a weight function for minimizing the difference between the applied disturbance wand the output UDO of the disturbance observer based on the frequency characteristics of the plant P to be controlled,
• the second weight function W2 is a weight function for controlling the uncertainty of the plant P to be controlled, and
• the disturbance observer is formed based on the first weight function W1 and the second weight function W2.