Design of generalized extended state observer based control for nonlinear systems with matched and mismatched uncertainties

Abstract

This paper develops a generalized extended state observer based control (GESOBC) for nonlinear systems with matched and mismatched uncertainties. The control law is designed based on estimated states via generalized extended state observer (GESO). The effect of external disturbances as well as parametric uncertainties are nullified by introducing disturbance compensation gain. The designed controller is able to perform better for stabilizing single-input multi-output systems. Simulation results show that the present control algorithm is capable of handling both the uncertainties with better transient performances as compared to sliding mode controller.