Applicability analysis of extended state observer-based control for systems subject to parametric disturbances
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Updated: Sep 23, 2025

Experimental Methods to Study Human Postural Control
Published on: September 11, 2019
1School of Energy and Power Engineering, Nanjing University of Science and Technology, China.
Abstract:
This paper discusses the applicability of Extended State Observer (ESO)-based control when systems are subjected to different types of parametric disturbances. The applicability is analyzed by establishing the characteristic polynomial of the closed-loop system. It is found that High-Bandwidth ESO-based control is beneficial to the elimination of state-parameter disturbances, but it has a negative impact on the elimination of input-parameter disturbances. In spite of this, the ESO-based control with suitable bandwidth can still be applied to systems which are subject to input-parameter disturbances. A Full-Order ESO-based control scheme is proposed so that disturbance rejection-based control is realized for a class of non-minimum phase systems. Numerical simulations are carried out to verify the correctness of the conclusions and the effectiveness of the proposed controller.
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