On Active Disturbance Rejection Control in Presence of Measurement Noise

Abstract

High-gain nature of extended state observer (ESO), which forms an integral part of active disturbance rejection control (ADRC) technique, results in the following limitations: 1) Sensitivity to high-frequency measurement noise which limits closed-loop performance in practical applications. 2) Escalation of observer gains up to a power <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\boldsymbol{n+1}$</tex-math></inline-formula> of observer bandwidth, which complicates numerical implementation when system order <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$(\boldsymbol{n})$</tex-math></inline-formula> or observer bandwidth is large. To overcome these limitations, a low-power higher order ESO is proposed in the present work for practical application of ADRC scheme in noisy environment. Moreover, a recently proposed cascade ESO (CESO), designed for noise suppression, is analyzed in the frequency-domain to reveal an underlying similarity with higher-order ESO, which is not reported in literature. Presented analysis justifies the performance improvement obtained over conventional ESO and provides a guideline for selecting the number of cascade levels based on the expected nature of disturbance. Case study performed on a dc–dc boost converter illustrates the practical advantages of proposed scheme over CESO in terms of improved immunity to high-frequency measurement noise, precise regulation in presence of time-varying disturbance, low observer gains that facilitate numerical implementation, and ease of tuning due to a single observer parameter.