Performance Analysis of Generalized Extended State Observer in Tackling Sinusoidal Disturbances

Author

Godbole, Anand A. ; Kolhe, Jaywant P. ; Talole, Sanjay E.

Author_Institution

Dept. of Aerosp. Eng., Defence Inst. of Adv. Technol., Pune, India

Volume

21

Issue

6

fYear

2013

fDate

Nov. 2013

Firstpage

2212

Lastpage

2223

Abstract

In this paper, performance analysis of generalized extended state observer (ESO) in handling fast-varying sinusoidal disturbances is presented. It is shown that the higher order ESO offers improvement in the tracking of fast-varying sinusoidal disturbances, if the ESO bandwidth is chosen significantly larger than the frequency of the disturbance and ensuring that it is sufficiently smaller than unmodeled high frequency dynamics. The frequency and time-domain analysis results are presented, and the findings are verified through numerical simulations and experimentation on Quanser´s motion control module.

Keywords

closed loop systems; control system analysis; observers; stability; time-frequency analysis; ESO bandwidth; ESO performance analysis; Quanser motion control module; fast-varying sinusoidal disturbance; frequency-domain analysis; generalized extended state observer; time-domain analysis; Frequency-domain analysis; Motion control; Numerical simulation; Observers; Performance analysis; Time-domain analysis; Extended state observer (ESO); fast-varying uncertainties; generalized ESO; motion control; sinusoidal disturbance;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/TCST.2012.2231512

Filename

6392230