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In this paper, a Novel Active Disturbance Rejection Control (N-ADRC) strategyis proposed that replaces the Linear Extended state observer (LESO) used inConventional ADRC (C-ADRC) with a Nested LESO. In the nested LESO, theinner-loop LESO actively estimates and eliminates the generalized disturbance.Increasing the bandwidth improves the estimation accuracy which may toleratenoise and conflict with H/W limitations and the sampling frequency of thesystem. Therefore, an alternative scenario is offered without increasing thebandwidth of the inner-loop LESO provided that the rate of change of thegeneralized disturbance estimation error is upper bounded. This is achieved bythe placing an outer-loop LESO in parallel with the inner one, it estimates andeliminates the remaining generalized disturbance that eluded from theinner-loop LESO due to bandwidth limitations. The stability of LESO and nestedLESO is investigated using Lyapunov stability analysis. Simulations onuncertain nonlinear SISO system with time-varying exogenous disturbancerevealed that the proposed nested LESO can successfully deal with a generalizeddisturbance in both noisy and noise-free environments, where the Integral TimeAbsolute Error (ITAE) of the tracking error for the nested LESO is reduced by69.87% from that of the LESO.

Novel Active Disturbance Rejection Control Based on Nested Linear Extended State Observers