Capabilities of extended state observer for estimating uncertainties

Abstract

The capabilities of extended state observer (ESO) for estimating uncertainties is discussed in this paper. The scope of the disturbances that can be observed by LESO with bounded observing errors is given. The observing errors for several typical disturbances-constant disturbance, sine disturbance, ramp disturbance, and square wave disturbance are further analyzed. It is demonstrated that ESO can deal with a large class of disturbances. Finally, the results are tested by simulations.