Applicability analysis of extended state observer-based control for systems subject to parametric disturbances

Area of Science:

• Control Systems Engineering
• Non-linear System Analysis
• Observer-Based Control

Background:

• Parametric disturbances pose challenges in control system performance.
• Extended State Observers (ESO) are utilized for disturbance estimation and compensation.
• Non-minimum phase systems present unique control design difficulties.

Purpose of the Study:

• To analyze the applicability of ESO-based control under various parametric disturbances.
• To investigate the impact of ESO bandwidth on disturbance rejection.
• To propose a control scheme for non-minimum phase systems with disturbance rejection.

Main Methods:

• Analysis of the closed-loop system's characteristic polynomial.
• Evaluation of ESO bandwidth effects on state and input parameter disturbances.
• Development of a Full-Order ESO-based control strategy.

Main Results:

• High-bandwidth ESO effectively rejects state-parameter disturbances.
• High-bandwidth ESO can negatively impact input-parameter disturbance rejection.
• ESO with appropriate bandwidth remains applicable for input-parameter disturbances.

Conclusions:

• ESO-based control applicability is contingent on disturbance type and observer bandwidth.
• A novel Full-Order ESO scheme enables disturbance rejection in non-minimum phase systems.
• Numerical simulations confirm the proposed controller's effectiveness and the study's findings.