Cascade extended state observer for active disturbance rejection control applications under measurement noise

The extended state observer (ESO) plays an important role in the design of feedback control for nonlinear systems. However, its high-gain nature creates a challenge engineering practice cases where output measurement is corrupted by non-negligible, high-frequency noise. presence such noise puts constraint on how high gains can be, which forces trade-off between fast convergence estimates and quality task realization. In this work, new proposed to improve estimation performance particular, unique cascade combination ESOs developed, capable accurate signals reconstruction, while avoiding over-amplification effectiveness introduced structure verified here working as part active disturbance rejection (ADRC) scheme. conducted numerical validation theoretical analysis show improvement over standard solution terms attenuation.