This paper proposes a novel structure of extended state observer ( ESO) for state observation of nonlinear system with measurement noise, which can be used in disturbance rejection controller. 提出了扩张状态观测器的一种新的形式,用于处理量测环节带有噪声干扰时的情况。
Using linear state feedback and linear feedforward control of the disturbances, the problem of achieving the distrubance rejection in a linear time invariant singular system is treated and a constructive solvability condition is presented. 本文针对线性的不变奇异系统,讨论了利用一般状态反馈及前馈控制的组合来达到其干扰解耦的条件.文中构造性地给出了这一问题可解的充分必要条件。
The tracking differentiator ( TD) and extended state observer ( ESO), essential parts of an auto disturbance rejection controller ( ADRC) to control high order systems, are simplified and improved using theoretical analysis. 将自抗扰控制器(ADRC)推广到高阶系统的控制中。以理论分析为基础,将其基础部件&跟踪微分器TD和扩张状态观测器ESO的设计予以简化和改进。
Simulation results prove the high performance and robustness. ADRC achieves zero steady state error without integration and enhances the ability of steady state error rejection. 仿真结果验证了ADRC的控制效果和较强的鲁棒特性,表明ADRC在不引入积分控制的情况下,使系统迅速达到零稳态误差,增强了稳态抗偏差能力。