Abstract
Abstract In this paper, we investigate and apply a revisited formulation of a reference model-based control strategy. This reformulation uses an Extended State based Observer (ESO) to estimate the uncertainties and the various disturbances. The estimation is continuously updated and rejected from the main feedback loop. This active disturbance rejection is used to boost the robustness ability of a reference model-based control strategy (Interconnection and Damping Assignment-Passivity Based Control). The primary results are shown through numerical simulations.
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