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Extended State Observer Based on ADRC of Linear System with Incipient Fault

Xingxing Hua, Darong Huang*, and Shenghui Guo
International Journal of Control, Automation, and Systems, vol. 18, no. 6, pp.1425-1434, 2020

Abstract : Owing to the fact that it is difficult to find the incipient fault and it is hard to deal with the disturbance, an extended state observer (ESO), which is based on the linear time invariant system is designed and analyzed. This method can effectively separate incipient fault as a new state variable from the disturbance. By using coordinate transformations, the original system is decoupled into two subsystems. Especially, an adaptive observer of faulty system is designed for the one subsystem with the incipient fault but not relevant to the disturbance, and an extended state observer (ESO) based on active disturbance rejection control (ADRC) is designed for the other one which not only has the disturbance but also the incipient fault. Two simulation results are presented to show the effectiveness of the presented methods.

Keyword : Coordinate transformation, disturbance, extended state observer (ESO), incipient fault.

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