Reduced-order improved generalized proportional integral observer based tracking control for full-state constrained systems with multi-uncertainties.

In order to better understand the disturbance rejection principle of PID, the active disturbance rejection PID is derived based on the singular perturbation theory and bandwidth parameterization. However, the PID structure is not suitable for high order systems with state constraints. In addition, the adaptive neural network (ANN) method for the state constrained control is not facile for engineering applications. Therefore, based on the disturbance rejection ideas of PID, the reduced order improved generalized proportional integral observer (IGPIO) based state constrained control is proposed to reject the multi uncertainties actively, meanwhile, it can prevent the violation of the system state constraints. Finally, the effectiveness of the proposed method is verified by the state constrained control simulation for permanent magnet synchronous motor (PMSM) driven electric vehicle (EV).