A New Approach to Nonlinear State Observation for Affine Control Dynamical Systems

In this work, a Nonlinear Higher Order Extended State Observer (NHOESO) is presented to replace the Linear (LESO) used in Conventional Active Disturbance Rejection Control (C-ADRC) solutions. NHOESO, standard LESO completed with two-term smooth nonlinear function saturation-like characteristics. The proposed novel NHOESO enables precise observation of generalized disturbances higher-order derivatives. stability examined aid Lyapunov method. A simulation an uncertain Single-Input–Single-Output (SISO) system time-varying external confirms that copes well disturbance, which not true for other ESOs.