Speed Control of Permanent Magnet DC Motor with Friction and Measurement Noise Using Novel Nonlinear Extended State Observer-Based Anti-Disturbance Control

Amjad J. Humaidi and Ibraheem Kasim Ibraheem
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Amjad J. Humaidi: Department of Control and Systems Engineering, University of Technology, Baghdad 10001, Iraq
Ibraheem Kasim Ibraheem: College of Engineering, Department of Electrical Engineering, University of Baghdad, Al-Jadriyah, P.O.B.: 47273, Baghdad 10001, Iraq

Energies, 2019, vol. 12, issue 9, 1-22

Abstract: In this paper, a novel finite-time nonlinear extended state observer (NLESO) is proposed and employed in active disturbance rejection control (ADRC) to stabilize a nonlinear system against system’s uncertainties and discontinuous disturbances using output feedback based control. The first task was to aggregate the uncertainties, disturbances, and any other undesired nonlinearities in the system into a single term called the “generalized disturbance”. Consequently, the NLESO estimates the generalized disturbance and cancel it from the input channel in an online fashion. A peaking phenomenon that existed in linear ESO (LESO) has been reduced significantly by adopting a saturation-like nonlinear function in the proposed nonlinear ESO (NLESO). Stability analysis of the NLEO is studied using finite-time Lyapunov theory, and the comparisons are presented over simulations on permanent magnet DC (PMDC) motor to confirm the effectiveness of the proposed observer concerning LESO.

Keywords: extended state observers; observer bandwidth; estimation error; output feedback; tracking differentiator; finite-time control; permanent magnet DC motor; ADRC (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2019
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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