Applicability analysis of extended state observer-based control for systems subject to parametric disturbances.

This paper discusses the applicability of Extended State Observer (ESO)-based control when systems are subjected to different types of parametric disturbances. The applicability is analyzed by establishing the characteristic polynomial of the closed-loop system. It is found that High-Bandwidth ESO-based control is beneficial to the elimination of state-parameter disturbances, but it has a negative impact on the elimination of input-parameter disturbances. In spite of this, the ESO-based control with suitable bandwidth can still be applied to systems which are subject to input-parameter disturbances. A Full-Order ESO-based control scheme is proposed so that disturbance rejection-based control is realized for a class of non-minimum phase systems. Numerical simulations are carried out to verify the correctness of the conclusions and the effectiveness of the proposed controller.