Extending the operating range of linear controller by means of ESO

Abstract

This work presents a novel approach to extend the operational range of linear controllers designed for nonlinear systems using its linearized model. The higher order terms assumed to be negligible in linearization are estimated using Extended State Observer and compensated by augmenting the linear controller. Extended State Observer is an integrated state and disturbance estimator. Illustrative example of a planar pendulum is presented to demonstrate the efficacy of the approach. © 2011 Springer-Verlag.