Extended State Observer for Mismatch Disturbances Using Taylor Approximation of the Integral

Cuong Duc Nguyen
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Abstract

The development of disturbance estimators using extended state observers (ESOs) typically assumes that the system is observable. This paper introduces an improved method for systems that are initially unobservable, leveraging Taylor expansion to approximate the integral of disturbance dynamics. A new extended system is formulated based on this approximation, enabling the design of an observer that achieves exponential stability of the error dynamics. The proposed method's efficacy is demonstrated through a practical example, highlighting its potential for robust disturbance estimation in dynamic systems.
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使用泰勒积分逼近法的失配扰动扩展状态观测器
使用扩展状态观测器(ESO)开发扰动估计器通常假定系统是可观测的。本文针对最初不可观测的系统引入了一种改进方法,利用泰勒展开来近似扰动动态积分。根据这种近似方法制定了一个新的扩展系统,从而设计出一种能实现误差动态指数稳定性的观测器。通过一个实际例子证明了所提方法的有效性,突出了它在动态系统中进行鲁棒扰动估计的潜力。
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