Robust internal model control based on a novel generalized extended state observer and its application on a...

Area of Science:

• Control Systems Engineering
• Robust Control Theory
• Observer-Based Control

Background:

• Disturbance observer (DOB) and extended state observer (ESO) are key for managing uncertainties in control systems.
• Effective integration of DOB and ESO for improved disturbance suppression is an ongoing research challenge.

Purpose of the Study:

• To develop an effective integration of DOB and ESO for enhanced disturbance estimation and compensation.
• To propose a robust internal mode control (RIMC) scheme for improved system performance.
• To validate the proposed RIMC scheme's superiority in robustness, disturbance rejection, and resonance suppression.

Main Methods:

• Integrated DOB's compensation mechanism with ESO to address estimation errors.
• Introduced a generalized ESO (GESO) to replace the standard ESO.
• Developed a robust internal mode control (RIMC) scheme within a two-degree-of-freedom internal mode control (TDF-IMC) framework using GESO.
• Provided a frequency-domain derivation demonstrating the equivalence between RIMC and classical TDF-IMC.

Main Results:

• Successfully integrated DOB and ESO, leveraging DOB for ESO's estimation error compensation.
• Demonstrated the equivalence of the proposed RIMC and traditional TDF-IMC through rigorous derivation.
• Validated the RIMC scheme's superior performance in robustness, disturbance rejection, and resonance suppression on a two-inertia system.

Conclusions:

• The proposed integration of DOB and GESO offers an effective approach to disturbance compensation.
• The RIMC scheme provides significant improvements in control system performance, particularly in handling disturbances and suppressing resonance.
• The developed control strategy is highly effective for systems like the two-inertia system, enhancing overall robustness and stability.