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Speed Control of Permanent Magnet DC Motor with Friction and Measurement Noise Using Novel Nonlinear Extended State Observer-Based Anti-Disturbance Control

Author

Listed:
  • Amjad J. Humaidi

    (Department of Control and Systems Engineering, University of Technology, Baghdad 10001, Iraq)

  • Ibraheem Kasim Ibraheem

    (College of Engineering, Department of Electrical Engineering, University of Baghdad, Al-Jadriyah, P.O.B.: 47273, Baghdad 10001, Iraq)

Abstract

In this paper, a novel finite-time nonlinear extended state observer (NLESO) is proposed and employed in active disturbance rejection control (ADRC) to stabilize a nonlinear system against system’s uncertainties and discontinuous disturbances using output feedback based control. The first task was to aggregate the uncertainties, disturbances, and any other undesired nonlinearities in the system into a single term called the “generalized disturbance”. Consequently, the NLESO estimates the generalized disturbance and cancel it from the input channel in an online fashion. A peaking phenomenon that existed in linear ESO (LESO) has been reduced significantly by adopting a saturation-like nonlinear function in the proposed nonlinear ESO (NLESO). Stability analysis of the NLEO is studied using finite-time Lyapunov theory, and the comparisons are presented over simulations on permanent magnet DC (PMDC) motor to confirm the effectiveness of the proposed observer concerning LESO.

Suggested Citation

  • Amjad J. Humaidi & Ibraheem Kasim Ibraheem, 2019. "Speed Control of Permanent Magnet DC Motor with Friction and Measurement Noise Using Novel Nonlinear Extended State Observer-Based Anti-Disturbance Control," Energies, MDPI, vol. 12(9), pages 1-22, April.
    • Handle: RePEc:gam:jeners:v:12:y:2019:i:9:p:1651-:d:227270
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    Cited by:

    1. Mingfei Zhao & Yunlong Hu & Jia Song, 2022. "Improved Fractional-Order Extended State Observer-Based Hypersonic Vehicle Active Disturbance Rejection Control," Mathematics, MDPI, vol. 10(23), pages 1-17, November.

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