基于Matlab的扩张状态观测器仿真及分析

Simulation and analysis of extended state observer based on Matlab

以常见的二阶系统为基础,对自抗扰控制器设计中的核心部分扩张观测器进行了数值仿真。仿真分为两步进行:观测器参数分别选择线性参数和非线性参数,比较这两种观测方式的效率;在观测器中引入高斯加性白噪声,检验观测器的观测效果。仿真结果表明,只要合适选择观测器的参数,就能够以较高的效率获得较为满意的观测效果。

Numerical simulation of the extended state observer,which is the essential part of active disturbance rejection controller,was performed based on the most popular 2order system. The simulation consists of two steps：in the 1st part,linear parameters and nonlinear parameters are selected for the parameters of the observer,and compared for their observing effect;in the 2nd part,Gauss additive white noise is imported in the observer to check its observing effect. The simulation result shows that the satisfied observing effect can be obtained effectively if only its parameters are selected well.