Analysis and design of the Extended State Observer using Internal Mode Control

Author

Xu Qi ; Sun Mingwei ; Chen Zengqiang ; Zhang Dexian

Author_Institution

Coll. of Inf. Tech. Sci., Nankai Univ., Tianjin, China

fYear

2013

Firstpage

5408

Lastpage

5413

Abstract

Extended State Observer (ESO), as the core of Active Disturbance Rejection Control (ADRC), is analyzed within the framework of Internal Mode Control. The influence of the “gain b” and “bandwidth ω₀” on the ESO performance is analyzed using the sensitivity function and complementary sensitivity function. Based on this, a new design scheme of ESO is proposed. The simulation results show the validity of the theoretical analysis. The estimation performance of ESO and the control performance of ADRC are both enhanced, demonstrating the effectiveness of the design strategy.

Keywords

control system analysis; control system synthesis; observers; sensitivity analysis; ADRC control performance; ESO design scheme; ESO estimation performance; active disturbance rejection control; complementary sensitivity function; design strategy; extended state observer analysis; extended state observer design; internal mode control; sensitivity function; Bandwidth; Educational institutions; Electronic mail; Observers; Process control; Sensitivity; Tuning; Active Disturbance Rejection Control; Extended State Observer; Internal Model Control; Sensitivity Function;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2013 32nd Chinese

Conference_Location

Xi´an

Type

conf

Filename

6640382