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This paper proposes a new Active Disturbance Rejection based robusttrajectory tracking controller design method in state space. It can compensatenot only matched but also mismatched disturbances. Robust state and controlinput references are generated in terms of a fictitious design variable, namelydifferentially flat output, and the estimations of disturbances by usingDifferential Flatness and Disturbance Observer. Two different robust controllerdesign techniques are proposed by using Brunovsky canonical form and polynomialmatrix form approaches. The robust position control problem of a twomass-spring-damper system is studied to verify the proposed robust controllers.

Active Disturbance Rejection Based Robust Trajectory Tracking Controller Design in State Space