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In this paper, a novel finite - time Nonlinear Extended State Observer(NLESO) is proposed and employed in Active Disturbance Rejection Control (ADRC)to stabilize a nonlinear system against system's uncertainties anddiscontinuous disturbances using output feedback technique. The first task wasto aggregate the uncertainties, disturbances, and any other undesirednonlinearities in the system into a single term called the "generalizeddisturbance". Consequently, the ESO estimates the generalized disturbance andcancel it from the input channel in an online fashion. A peaking phenomenonthat existed in Linear ESO (LESO) has been reduced significantly by adopting asaturation - like nonlinear function in the proposed Nonlinear ESO (NLESO).Stability analysis of the NLEO is studied using finite - time Lyapunov theory,and the comparisons are presented over simulations on Permanent Magnet DC(PMDC) motor to confirm the effectiveness of the proposed observer concerningLESO.

On The Design of a Novel Finite-Time Nonlinear Extended State Observer for Class of Nonlinear Systems with Mismatch Disturbances and Uncertainties