A Robust Cruise Control System Using the Disturbance Observer

A robust cruise control system using a disturbance observer is proposed. A control design method based on the two-degree-of-freedom (2-DOF) control including a disturbance observer is introduced. The proposed controller provides that:

1. (1)
   input command responses are not affected by driving condition, such as vehicle speed, and road gradient
2. (2)
   input command response and disturbance suppression performance can be designed independently
3. (3)
   choice of an appropriate parameter value in the disturbance observer depending on the throttle opening gives a proper trade-off between the robust performance and the robust stability over a wide driving range.

Simulation and experimental results show that the proposed system is robust against both parameter variations and disturbances.