A structure-improved extended state observer for active disturbance rejection control

An improved extended state observer (ESO) based on the traditional linear extended state observer (LESO) and the reduced-order extended state observer (RESO) is proposed in this paper, which is used to design the active disturbance rejection control (ADRC). The observation error and the first derivative of the output are set as the correction variable to modify the output of the observer. The convergence is also analyzed. The simulation results show that the improved ESO reduces the observation error of each state variable and the generalized total disturbance. As a result, a good control effect is obtained.