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

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


This article develops 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. The experiments of a posture control system for a Stewart platform demonstrate the validity of the approach.

Original languageEnglish
Pages (from-to)1666-1675
Number of pages10
JournalIEEE Transactions on Industrial Electronics
Issue number2
Publication statusPublished - 2023 Feb 1


  • Disturbance rejection
  • Stewart platform
  • equivalent input disturbance (EID)
  • {1} inverse

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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