Error Analysis of ADRC Linear Extended State Observer for the System with Measurement Noise

The Active Disturbance Rejection Control (ADRC) method, which is not dependent upon the accurate system model and has strong robustness for adjusting to disturbances, is widely used in many fields. As the core of the ADRC method, the performance of the Extended State Observer (ESO) is of great importance to the controller. In practical applications, the observer will inevitably receive the influence of measurement noise, but the research on the extent of impact is less. This article takes into account observing errors caused by measurement noise, deriving and analyzing their impact on Linear Extended State Observer (LESO) performance firstly. According to the theoretical derivation and simulation analysis, an improved controller is designed, which can effectively suppress the effect of noise on the actuator and system output. Copyright (C) 2020 The Authors.