A New Switching Nonlinear Extended State Observer

Abstract

To improve the observation accuracy and shorten the transient time simultaneously, in this paper, we propose a new nonlinear extended state observer (ESO) by using a switching strategy. The convergence of the proposed ESO is proved with explicit error estimation. The effectiveness of the proposed switched nonlinear ESO is demonstrated through numerical simulations and comparison with existing ESOs. The numerical results show that the proposed new ESO is more accurate and the transient time is shorter than the previous ESOs with the same tuning parameter.