Hybrid extended state observer based control for systems with matched and mismatched disturbances

Abstract

The conventional Extended State Observer-Based Control (ESOBC) technique is mostly applicable to a class of Integral Chain Form (ICF) structure with the matched kind of single-channel lumped disturbances. However, the systems having the non-ICF structure with the multi-channel matched and mismatched lumped disturbances are widely prevailing in the control applications, where the conventional ESOBC scheme may no longer applicable. To this end, it is recommended to upgrade the conventional ESOBC scheme for enhancing the feasibility and the applicability. This research work addresses the above-discussed recommendations using hybridizing the ESOBC with the Generalized ESOBC (GESOBC) which termed as Hybrid Extended State Observer Based Control (HyESOBC) in this paper. The proposed scheme is capable of estimating and controlling the multi-channel lumped disturbances (i.e., matched and mismatched) for a wide range of practical applications including the systems with the non-ICF structure. Simulation results and comparative analysis of numerical and practical application examples with the dual-channel lumped disturbances are presented to confirm the feasibility and the applicability of the proposed scheme.