Extended State Observer for Nonlinear Systems with Uncertainty
نویسندگان
چکیده
Abstract: The extended state observer first proposed by Jingqing Han in [J. Q. Han, The extended state observer for a class of uncertain systems, Control and Decision, 10(1)(1995), 85-88] is the main interim loop of active disturbance rejection control that is taking off as a technology after numerous successful applications in engineering. Unfortunately, there is no a rigorous proof of convergence to date. In this paper, we attempt to tackle this long unsolved extraordinary problem. The main idea is to transform the error equation of objective system with its extended state observer into a disturbed system of a asymptotical stable system, with which the effect of total disturbance error is eliminated by high-gain.
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