1. Date of download: 9/18/2016 Copyright © ASME. All rights reserved. From: A Guide to Design Disturbance Observer J. Dyn. Sys., Meas., Control. 2013;136(2):021011-021011-10. doi:10.1115/1.4025801 A block diagram for a two-degrees-of-freedom DOB based robust control system Figure Legend:

2. Date of download: 9/18/2016 Copyright © ASME. All rights reserved. From: A Guide to Design Disturbance Observer J. Dyn. Sys., Meas., Control. 2013;136(2):021011-021011-10. doi:10.1115/1.4025801 Nyquist plot of inner-loop when a plant has time-delay and DOB is first order Figure Legend:

3. Date of download: 9/18/2016 Copyright © ASME. All rights reserved. From: A Guide to Design Disturbance Observer J. Dyn. Sys., Meas., Control. 2013;136(2):021011-021011-10. doi:10.1115/1.4025801 A block diagram of a DOB based robust control system when a plant is unstable Figure Legend:

4. Date of download: 9/18/2016 Copyright © ASME. All rights reserved. From: A Guide to Design Disturbance Observer J. Dyn. Sys., Meas., Control. 2013;136(2):021011-021011-10. doi:10.1115/1.4025801 Frequency responses of the inner-loop sensitivity and co-sensitivity transfer functions when the bandwidth of DOB is 100 rad/s Figure Legend:

5. Date of download: 9/18/2016 Copyright © ASME. All rights reserved. From: A Guide to Design Disturbance Observer J. Dyn. Sys., Meas., Control. 2013;136(2):021011-021011-10. doi:10.1115/1.4025801 Frequency responses of the inner-loop sensitivity and co-sensitivity transfer functions when a 2nd order DOB is used Figure Legend:

6. Date of download: 9/18/2016 Copyright © ASME. All rights reserved. From: A Guide to Design Disturbance Observer J. Dyn. Sys., Meas., Control. 2013;136(2):021011-021011-10. doi:10.1115/1.4025801 Frequency responses of the inner-loop sensitivity and co-sensitivity transfer functions when the order of DOB is one Figure Legend:

7. Date of download: 9/18/2016 Copyright © ASME. All rights reserved. From: A Guide to Design Disturbance Observer J. Dyn. Sys., Meas., Control. 2013;136(2):021011-021011-10. doi:10.1115/1.4025801 Frequency responses of the inner-loop sensitivity and co-sensitivity transfer functions when the order of DOB is one Figure Legend:

8. Date of download: 9/18/2016 Copyright © ASME. All rights reserved. From: A Guide to Design Disturbance Observer J. Dyn. Sys., Meas., Control. 2013;136(2):021011-021011-10. doi:10.1115/1.4025801 Frequency responses of the outer-loop sensitivity and co-sensitivity transfer functions when the order of DOB is two Figure Legend:

9. Date of download: 9/18/2016 Copyright © ASME. All rights reserved. From: A Guide to Design Disturbance Observer J. Dyn. Sys., Meas., Control. 2013;136(2):021011-021011-10. doi:10.1115/1.4025801 Step responses of the unstable plant when it is controlled by using the proposed robust controller Figure Legend:

10. Date of download: 9/18/2016 Copyright © ASME. All rights reserved. From: A Guide to Design Disturbance Observer J. Dyn. Sys., Meas., Control. 2013;136(2):021011-021011-10. doi:10.1115/1.4025801 A general frequency response of a sensitivity function Figure Legend: