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Extending the Operating Range of Linear Controller by Means of ESO

  • A. A. Godbole
  • S. E. Talole
Part of the Communications in Computer and Information Science book series (CCIS, volume 250)

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.

Keywords

Linearization Extended State Observer Robust control 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • A. A. Godbole
    • 1
  • S. E. Talole
    • 1
  1. 1.Department of Aerospace EngineeringDefence Institute of Advanced TechnologyPuneIndia

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