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We propose a strategy to solve the tracking control problem for uncertain pneumatic systems and with partial state measurement. The strategy is based on the Active Disturbance Rejection Control structure (ADRC), which includes a state observer, a low-pass filter, and a controller. In this proposal we use a discontinuous state observer to estimate the full state vector and, using the equivalent control concept, it also allows us to estimate the disturbances in the plant. The low-pass filter recovers the equivalent control from a discontinuous term of the observer. Finally, the controller has the PD structure with and an additional term which corresponds to the estimated disturbances to compensate the actual disturbances in the plant. We evaluate the performance of the closed-loop system using a performance index based on the L2.

Control Robusto de un Actuador Neumático Basado en la Estructura de Control con Compensación Activa de Perturbaciones para Seguimiento de Trayectorias