This paper presents an improved equivalent-input-disturbance (EID) approach of actively rejecting exogenous disturbances for a plant. A control system based on the approach includes a new EID estimator constructed by embedding extra integrals to the conventional EID estimator. These integrals enable the estimator to improve the disturbance-estimation precision without amplifying the effect of the measurement noise. Stability conditions of the control system are obtained using Separation Theorem. The system design ensures that the control system satisfies the stability conditions. Experiments of a rotational control system demonstrate the validity of the approach.
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