Improving disturbance rejection performance of EID-based control by employing PLTD

This paper proposes an improved equivalent-input-disturbance (IEID) approach to further suppress the exogenous disturbances. A predictor linear tracking differentiator (PLTD) is suggested as a replacement for first-order low-pass filter in traditional EID method and constructs IEID approach. The controller based on includes PLTD, Luenberger state observer, internal model of input signal feedback gain. PLTD can be easily designed by adjusting damping ratio change resonance peak superimposing differential unit compensate phase loss; frequency domain properties explain why estimator has better disturbance-rejection performance than conventional closed system divided into two subsystems design stability analysis. gain obtained using quadratic regulator (LQR) control method, observer gains are achieved perfect regulation analyzed according small-gain theorem. simulation results rotational showthe validity proposed superiority over approach, high-order (HEID) DOB ADRC method.