Abstract
The paper deals with a robust constrained control based on extended state observer (ESO) and state controller design using integral plant models of step-wise increasing complexity. The presented approach is used to enforce and consolidate the student's skills by repeating the state observer and state controller design for several modifications of the plant model. Importance of the control design evaluation by appropriate performance measures is also stressed. Thereby, this approach may help in discovering new interesting properties of this type of control.
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