A disturbance rejection-flatness based linear output feedback control approach for tracking tasks on a Chua´s circuit

A linear output feedback controller is developed for trajectory tracking problems defined on a modified version of Chua´s circuit. The circuit modification considers the introduction of a suitable external control input channel guided by a) the induction of the flatness property on a measurable output signal of the circuit and b) the physical viability of the control input. A linear active disturbance rejection control, based on a high gain linear disturbance observer, is implemented on a laboratory prototype. We show that the state-dependent disturbance can be approximately, but arbitrarily closely, estimated through a linear, high-gain, observer, called a Generalized Proportional Integral (GPI) observer, which contains a linear combination of a sufficient number of extra iterated integrals of the output estimation error. Experimental results are presented in the output reference trajectory tracking of a signal generated by an unrelated chaotic system of the Lorenz type. Laboratory experiments illustrate the proposed linear methodology for effectively controlling chaos.