A Motion Control Design through Variable Structure Controller Based on Extended State Observe

A new control solution to motion control problems is proposed. It is through variable structure controller (VSC) based on extended state observer (ESO), where the disturbances and high-order factors are estimated and compensated using ESO. The dynamic compensation reduces the motion system to approximately a triple integrator which can be easily controlled using VSC. The controller is inherently robust against plant variations because of VSC. Through hardware tests, it is shown that the proposed approach is superior to the engineering PID and general VSC. And because ESO provides a high-frequency path for the dynamic state which is not modeling, the chatter of VSC is reduced.