Active Disturbance Rejection Control Based on an Improved Equivalent-Input-Disturbance Approach

作者：Liu, Rui-Juan^*; Wu, Min; Liu, Guo-Ping; She, Jinhua; Thomas, Clive

来源：IEEE/ASME Transactions on Mechatronics, 2013, 18(4): 1410-1413.

DOI：10.1109/TMECH.2012.2230014

• Disturbance estimation
• disturbance rejection
• equivalent input disturbance (EID)
• generalized state observer (GSO)
• pole placement

This paper presents an improved equivalent-input-disturbance (IEID) approach for disturbance rejection. It can be used for both minimum-and nonminimum-phase plants. First, a full-order generalized state observer (GSO) is employed in the construction of an IEID-based servo system to estimate an equivalent input disturbance. Then, a stability condition is derived and a GSO design algorithm is developed based on the stability condition and a pole placement algorithm. Finally, a numerical example demonstrates the validity of this method.

• 出版日期2013-8
• 单位哈尔滨工业大学; 中南大学