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Disturbance decoupling control of a mechanical system by reduced order observer based stabilizing controller

We propose a reduced order observer-based stabilizing controller by using limiting properties of LQR. The proposed reduced order observer-based stabilizing controller has disturbance decoupling property which is the same as the full order observer-based stabilizing controller, and has same property, i.e., good tracking performance, of the internal model control (IMO) design structure. In order to verify the proposed method, we apply the reduced order observer-based stabilizing controller to a mechanical system, and confirm effectiveness of the proposed properties by comparative experiments. The experimental results show that the proposed method is effective on disturbance decoupling control for a small cart carrier.