An Active Disturbance Rejection Control Based on Modified Extended State Observer for PMSM Speed Control Considering Measurement Noise

This paper presents a modified active disturbance rejection controller (MADRC) based on a modified extended state observer (MESO) for PMSM speed control. The presented MESO introduces a cascade structure based on traditional ESO (TESO) to avoid using high gain for disturbance rejection. The advantages of MESO compared to TESO are analyzed from the perspective of frequency domain. The analysis results show that MESO can improve the noise immunity performance while maintaining the anti-disturbance performance of TESO. The simulation results indicate that the proposed MADRC behaves better than the PI controller and the TADRC.