Disturbance rejection and control system design based on a high-order equivalent-input-disturbance estimator

Abstract

This paper presents an improved equivalent-input-disturbance (EID) approach to deal with exogenous disturbances. A high-order filter is newly used to construct an improved EID estimator. The parameters of the filter are selected to improve the disturbance-rejection performance without changing the bandwidth of an EID-based control system. The stability and disturbance-rejection mechanism of the system are analyzed using the transfer function from the EID to the output. The high-order filter is designed using the loop-shaping method. Simulation results of a rotational control system demonstrate the validity of the approach and superiority over other methods.