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The extended state observer (ESO) plays an important role in the design offeedback control for nonlinear systems. However, its high-gain nature creates achallenge in engineering practice in cases where the output measurement iscorrupted by non-negligible, high-frequency noise. The presence of such noiseputs a constraint on how high the observer gains can be, which forces atrade-off between fast convergence of state estimates and quality of controltask realization. In this work, a new observer design is proposed to improvethe estimation performance in the presence of noise. In particular, a uniquecascade combination of ESOs is developed, which is capable of fast and accuratesignals reconstruction, while avoiding over-amplification of the measurementnoise. The effectiveness of the introduced observer structure is verified herewhile working as a part of an active disturbance rejection control (ADRC)scheme. The conducted numerical validation and theoretical analysis of the newobserver structure show improvement over standard solution in terms of noiseattenuation.

Cascade Extended State Observer for Active Disturbance Rejection Control Applications under Measurement Noise