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Generalized extended state observer–based repetitive control for systems with mismatched disturbances
Author(s) -
Zhou Lan,
Cheng Lei,
She Jinhua,
Zhang Zhu
Publication year - 2019
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4582
Subject(s) - control theory (sociology) , repetitive control , disturbance (geology) , compensation (psychology) , nonlinear system , controller (irrigation) , state observer , stability (learning theory) , control system , computer science , property (philosophy) , tracking (education) , observer (physics) , active disturbance rejection control , control engineering , control (management) , engineering , artificial intelligence , physics , pedagogy , philosophy , psychoanalysis , biology , psychology , paleontology , epistemology , quantum mechanics , machine learning , agronomy , electrical engineering
Summary A generalized extended state observer (GESO) is devised to improve the disturbances rejection performance in a repetitive‐control system (RCS) for a class of single‐input, single‐output nonlinear plants with nonintegral chain form and mismatched disturbances. By appropriately choosing a disturbance compensation gain and incorporating the disturbance estimate into a repetitive control law, a GESO‐based RCS is established. In this system, the repetitive controller ensures tracking of a periodic reference input, and the incorporation of the disturbance compensation into the control input enables attenuating the lumped disturbance from the system output. Stability criteria and design algorithms have been developed for the system. A case study on the speed control of a rotational control system exhibits that the GESO‐based RCS delivers not only a promising disturbance rejection performance but also a superior property of tracking performance.