Gandhi, R.; Adhyaru, D.; Sharma, G.; Bokoro, P.N. Dual-Extended State Observer-Based Feedback Linearizing Control for a Nonlinear System with Mismatched Disturbances and Uncertainties. Energies2023, 16, 3142.
Gandhi, R.; Adhyaru, D.; Sharma, G.; Bokoro, P.N. Dual-Extended State Observer-Based Feedback Linearizing Control for a Nonlinear System with Mismatched Disturbances and Uncertainties. Energies 2023, 16, 3142.
Gandhi, R.; Adhyaru, D.; Sharma, G.; Bokoro, P.N. Dual-Extended State Observer-Based Feedback Linearizing Control for a Nonlinear System with Mismatched Disturbances and Uncertainties. Energies2023, 16, 3142.
Gandhi, R.; Adhyaru, D.; Sharma, G.; Bokoro, P.N. Dual-Extended State Observer-Based Feedback Linearizing Control for a Nonlinear System with Mismatched Disturbances and Uncertainties. Energies 2023, 16, 3142.
Abstract
This research work presents the nonlinear control framework to estimate and reject the mismatched lumped disturbances acting on the nonlinear uncertain system. It is an unfortunate fact that the conventional Extended State Observer (ESO) is not capable to estimate the mismatched lumped disturbance and its derivative simultaneously for the systems. Also, the basic ESO is only suitable for systems with Integral Chain Form (ICF) structure. Similarly, the conventional Feedback Linearizing Control (FLC) approach is not robust for stabilizing the systems in the presence of disturbances and uncertainties. Hence, the nonlinear control framework is proposed to overcome the above issues which are composed of, (a) Dual Extended State Observer (DESO), and (b) DESO based FLC. The DESO provides information on the unmeasured state, mismatched disturbance, and its derivative. While the DESO-FLC utilizes the information from DESO to counter the effect of such disturbances and to stabilize the nonlinear systems around the reference point. The detailed closed-loop analysis is presented for the proposed control framework in the presence of lumped disturbances. The performance robustness of the presented design has been validated for the third order, nonlinear, unstable, and disturbed Magnetic Levitation System (MLS). The results of the DESO-FLC approach are compared with the most popular Linear Quadratic Regulator (LQR) and nonlinear FLC approaches based on the integral error criterion and the average electrical energy consumption.
Copyright:
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