Discrete-time dual peak control for disturbance rejection

This note presents dual peak control to attenuate influence of external disturbances introduced from plant input and output. The proposed controller elevates tracking performance by simultaneously suppressing peaks of torque disturbance and error sensitivity functions. Unlike conventional methods, the proposed weighting functions are scalar, which results in a minimal order controller. In addition, the closed loop systems designed by the proposed method are always stable because the proposed control is originated from Lyapunov stability. Experimental verifications demonstrate the effectiveness of the suggested design method and it is confirmed that the controller suppresses two peaks and enhances tracking performance obviously.