论文标题
基于通用模型的扩展状态观察者，具有内置的零动力学
A General Model-Based Extended State Observer with Built-In Zero Dynamics
论文作者
论文摘要
为具有给定状态空间模型的单输入单输出线性时间传播系统提出了基于通用模型的扩展状态观察者（GMB-ESO），其中总干扰（一次性的模型不确定性和外部干扰）被定义为以ESO原始形式相同的方式定义为扩展状态。但是，首次将这种观察者存在的条件显示为1）原始植物是可观察到的； 2）植物产量和总干扰之间没有不变的零。然后，通过利用其与众所周知的未知输入观察者（UIO）的固有连接来显示GMB-ESO的有限键合接收和误差特性。此外，结果表明，植物的相对程度大于一个，观察者特征值均位于原点，GMB-ESO产生与UIO相同的干扰估计。最后，为那些具有零动力学的植物提出了一种具有内置零动力学的GMB-ESO，这是所有现有的ESO设计中尚未解决的问题。
A general model-based extended state observer (GMB-ESO) is proposed for single-input single-output linear time-invariant systems with a given state space model, where the total disturbance, a lump sum of model uncertainties and external disturbances, is defined as an extended state in the same manner as in the original formulation of ESO. The conditions for the existence of such an observer, however, are shown for the first time as 1) the original plant is observable; and 2) there is no invariant zero between the plant output and the total disturbance. Then, the finite-step convergence and error characteristics of GMB-ESO are shown by exploiting its inherent connection to the well-known unknown input observer (UIO). Furthermore, it is shown that, with the relative degree of the plant greater than one and the observer eigenvalues all placed at the origin, GMB-ESO produces the identical disturbance estimation as that of UIO. Finally, an improved GMB-ESO with built-in zero dynamics is proposed for those plants with zero dynamics, which is a problem that has not been addressed in all existing ESO designs.
