Young-Dong Yoo, Kyo-Beum Lee, and Suk-Kyo Hong, "Performance Improvement of an Automatic Door System Using a Disturbance Observer," The Transactions of the Korean Institute of Power Electronics, vol. 15, no. 5, pp. 352–360, Oct. 2010. > Paper

This paper proposes a precise position control of an automatic door using a disturbance observer. Although the conventional PID

controller is usually used for an automatic door system, the demand of the robust controller considering the parameter deviations and

disturbances is increasing due to the various size and weight of a door. The linear model for an automatic door system is presented.

Based on this model, the LQR controller using a state feedback controller and an observer are suggested. A disturbance observer to

compensate the undesirable factors is also proposed. Simulation and Experimental results are presented to illustrate the feasibility of

the proposed control strategy.