Generalized Extended State Observer Based Control for Systems With Mismatched Uncertainties

TLDR

Standard ESOBC only handles matched uncertainties in single‑input–single‑output integral‑chain systems, while mismatched uncertainties in nonintegral‑chain systems are common and cannot be addressed by the standard method. This work aims to develop a generalized ESOBC that extends applicability to such systems. By selecting an appropriate disturbance compensation gain, the proposed GESOBC handles nonintegral‑chain systems with mismatched uncertainties without coordinate transformations and can be extended to multi‑input–multi‑output systems with minimal changes. Numerical simulations and application design examples confirm the feasibility and effectiveness of the proposed method.

Abstract

The standard extended state observer based control (ESOBC) method is only applicable for a class of single-input–single-output essential-integral-chain systems with matched uncertainties. It is noticed that systems with nonintegral-chain form and mismatched uncertainties are more general and widely exist in practical engineering systems, where the standard ESOBC method is no longer available. To this end, it is imperative to explore new ESOBC approach for these systems to extend its applicability. By appropriately choosing a disturbance compensation gain, a generalized ESOBC (GESOBC) method is proposed for nonintegral-chain systems subject to mismatched uncertainties without any coordinate transformations. The proposed method is able to extend to multi-input–multi-output systems with almost no modification. Both numerical and application design examples demonstrate the feasibility and efficacy of the proposed method.