Novel extended state observer for uncertain system with measurement noise
用于带有量测噪声系统的新型扩张状态观测器

This paper proposes a novel structure of extended state observer(ESO) for state observation of nonlinear system with measurement noise,which can be used in disturbance rejection controller.The measurement noise degrades the performance of the normal ESO.A filter is designed to eliminate high frequency noise,and the new ESO includes this filter equation to compensate the effect of the filter.The simulation results show that this new type of ESO can satisfactorily track states with measurement noise.