Composite Hierarchical Anti-Disturbance Control (CHADC) for systems with multiple disturbances: Survey and overview

This paper addresses the elegant anti-disturbance control (EADC) problem for complex systems with multiple disturbances. First, we briefly review the classical control methodologies for disturbance attenuation and rejection problems. Then, we summarize the recent progresses of disturbance observer based control (DOBC). It is noted that most of above methodologies focus on systems with the single disturbance. To reduce the conservertiveness, we classified and modelled the multiple disturbances, and presented a composite anti-disturbance control with hierarchical achitecture-Composite Hierarchical Anti-Disturbance Control (CHADC). CHADC has two layers: the inner layer includes the disturbance observer and the compensator in feedforward path; the outer layer includes the controller with disturbance attenuation and other performance in feedback path.