Abstract
Linear Extended State Observer (LESO) with a large gain wo leads to faster estimation error convergence. But a high gain LESO is sensitive to high frequency measurement noise and its digital implementation is rather complex. To address the above issues, for a given n-th order plant, a new 2n-th order extended state observer is proposed. The proposed observer, while preserving the fast convergence property of LESO, has a lower gain power of 2 and is less sensitive to high frequency measurement noise. And the new observer can be easily tuned with gain ωo.
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