ISA Transactions 58 (2015) 309317

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ISA Transactions
journal homepage: www.elsevier.com/locate/isatrans

A novel extended state observer

Shaofeng Xiong a,b,n, Weihong Wang a,b, Xiaodong Liu c,d, Zengqiang Chen e, Sen Wang a,b
a
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics & Astronautics, Beijing 100191, China
b
Science and Technology on Aircraft Control Laboratory, Beijing University of Aeronautics & Astronautics, Beijing 100191, China
c
Beijing Aerospace Automatic Control Institute, Beijing 100854, China
d
National Key Laboratory of Science and Technology on Aerospace Intelligence Control, Beijing 100854, China
e
Department of Automation, Nankai University, Tianjin 300071, China

art ic l e i nf o a b s t r a c t

Article history: A novel extended state observer, which feeds back the output estimation error via both nonlinear and
Received 4 June 2015 switching terms, is put forward for the rst time in this paper. No longer neglecting the lumped
Received in revised form uncertainty's rst time derivative, the problem of disturbance observer design is transformed into the
4 July 2015
problem of state observer design in the presence of external disturbance. The switching term of the
Accepted 21 July 2015
Available online 11 August 2015
output estimation error is employed to counteract the adverse effect of external disturbance. The newly
This paper was recommended for developed extended state observer provides an attractive solution to the issue of high precision motion
publication by Jeff Pieper. control system. Both numerical simulation and experimentation on a speed turntable with temperature
box are implemented to verify the performance of the proposed newly developed extended state
Keywords: observer.
Disturbance observer
& 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Extended state observer
Finite time convergence
Switching term
Speed turntable

1. Introduction There exists a lot of disturbance estimating methods such as

Owing to their ubiquity in practical applications, the robust
controller design for systems affected by signicant uncertainties
and external disturbances has attracted a great deal of attention in
the eld of control. Usually, in these circumstances, high precision
performance is always required. The speed turntable is one of these
systems. In the speed turntable, various uncertainties and distur-
bances, including friction moment, motor moment uctuation, lop-
sided moment, system parameter change and unmodeled dynamics,
always bring adverse effects on the performance and robustness of
the system [1,2]. In practice, the conventional PID controllers often
provide satisfactory performance and robustness in the presence of
small modeling error. However, in case of large modeling uncertainties
and external disturbances, these simple controllers do not provide
satisfactory disturbance rejection capability [3]. As pointed out in [4],
many uncertainties and disturbances in control systems are unmea-
surable and the disturbance estimation technique is particularly
crucial for disturbance attenuation. Thereby it is necessary to inves-
tigate disturbance estimation technique in the controller design.
n
Correspondence to: XueYuan Road No. 37, HaiDian District, Beijing, China.
E-mail address: shepinxiong@163.com (S. Xiong).
unknown input observer [5,6], perturbation observer [7], the
disturbance observer [8,9], extended state observer (ESO) [10
12], etc. Owing to the inherent property of less dependence on
model information, ESO is a promising technique to reject
disturbance.
The main advantage of ESO is that it can simultaneously
estimate internal uncertainty (parameter or structure) and exter-
nal disturbance online in the absence of an accurate mathematical
model of the system. Therefore, ESO has been applied to various
engineering practices, such as ight control, chemical process
control, guidance law design, robot control, and motion control
etc. [1321].
The essential characteristic of ESO is that it treats the internal
uncertainty and external disturbance as lumped uncertainty and
augments the lumped uncertainty as a new state. Hence, the
problem of disturbance observer design is transformed into the
problem of state observer design. The traditional design procedure
of ESO sets the rst time derivative of lumped uncertainty as zero.
Doing this assumes that the lumped uncertainty is a constant (or
changes slowly) [12]. However, this assumption is not always
reasonable. For instance, in the scenario of hypersonic vehicle
ight control, owing to ight conditions, fuel consumptions,
thermal effects on the structure and complex ight environment
[22,23], the lumped uncertainty in ight control system may

http://dx.doi.org/10.1016/j.isatra.2015.07.012
0019-0578/& 2015 ISA. Published by Elsevier Ltd. All rights reserved.
310 S. Xiong et al. / ISA Transactions 58 (2015) 309317
change quickly. The higher order ESO was proposed in [24] to cope
with the time varying disturbance which had the form of
dt d0 d1 t d2 t 2 . In [25], it was shown that the higher
order ESO in [24] provided better disturbance rejection perfor-
mance compared with the conventional rst order ESO. Although
the traditional ESO has achieved a great success in many industrial
elds, it fails to obtain enough high precision performance in some
special case. For example, in our study, the controlled speed
turntable is located inside a temperature box. In view of the fact
that the machining error in speed turntable and laying error of
temperature box, the distance between temperature box and
speed turntable is not strictly uniform. Hence the friction between
temperature box and speed turntable varies with the rotation of
speed turntable. Thus, it is difcult to obtain high precision rate
smoothness in the motion control of speed turntable, if the time-
varying total disturbance cannot be sufciently compensated. In
other words, neglecting the lumped uncertainty's nonzero rst
time derivative hinders further performance increase of ESO.
As discussed above that ESO transforms the problem of
disturbance observer design into the problem of state observer
design in the presence of external disturbance. Here the nonzero
rst time derivative of lumped uncertainty is treated as an
external disturbance with respect to the extended system. In
addition, traditional ESO usually tracks the lumped uncertainty
in innite time. Finite time control techniques can provide a faster
convergence rate and better disturbance rejection properties [26].
Combining homogeneity theory [27] and sliding mode observer
[28,29], reference [26] provides a nite time convergent state
observer in the presence of external disturbance.
Inspired by references [10,11,2629], a novel nite time con-
vergent ESO is proposed in this paper. First, on the basis of the
structure of ESO, the problem of disturbance observer design is
transformed into the problem of state observer design in the
presence of external disturbance. Then, a novel nite time con-
vergent ESO is established by feeding back the output estimation
error via both nonlinear and switching terms.
The main contributions of this paper are listed as follows:
(1) To the best of the knowledge of the authors, there is no
published literature introducing the switching term of the
output estimation error into the design of ESO. Therefore, a
novel extended state observer, which feeds back the output
estimation error via both nonlinear and switching terms, is put
forward for the rst time in this paper.
(2) The proposed newly developed ESO has been applied in the
motion control of a speed turntable with temperature box. The
experimental results verify the superior performance of the
newly developed ESO compared with the traditional ESO.
The paper is organized as follows: In Section 2, the design and
analysis of nite time convergent ESO is proposed. In Section 3,
numerical simulations are implemented to validate the perfor-
mance of the proposed nite time convergent ESO. Section 4
shows the experimental result. Section 5 concludes this paper.
2. Finite time convergent ESO design and analysis
In this section, the design procedure of nite time convergent
ESO considering the derivative of lumped uncertainty will be
proposed.
Consider the following rst order nonlinear dynamical system:
x_ f x wt but ; 1 e_ 2  2 je1 j2 signe1  2 je1 j2 signe1  k2 signe1
where x A R denotes the output of dynamical system in Eq. (1), f x
denotes the internal dynamics of dynamical system and is sup-
posed to be known, wt stands for the unknown lumped uncer-
tainty which including the internal parametric variation and
external disturbance, ut represents the control input with the
control gain b.
Assumption 1 [30]. The unknown total disturbance wt is con-
tinuously differentiable with respect to time.
Designating x as x1 and wt as an augmented state x2 , then the
rst order dynamical system in Eq. (1) can be extended to a new
second order dynamical system governed by the following equa-
tion:
(
x_ 1 x2 f x1 but
; 2
x_ 2 0 t
where t w _ t denotes the rate of change of wt . As presented
in the second formula of Eq. (2), the terms 0 and t can be
respectively viewed as nominal part and external disturbance of
x_ 2 . Hence the problem of disturbance observer design can be
transformed into the problem of state observer design in the
presence of external disturbance.
The following reasonable assumption for the disturbance term
t is made:
Assumption 2. The external disturbance t is unknown but
bounded, that is to say the following inequality holds:
 
t  r ; 3
where denotes the known upper bound on the magnitude of the
disturbance t .
Regarding the augmented system in Eq. (2), let z1 and z2
represent the estimates of x1 and x2 , respectively, then the
proposed nite time convergent ESO with the consideration of
lumped uncertainty's derivative is governed by the following
equation:
z_ 1 z2 f z1 but je1 j1 signe1 je1 j1 signe1 k1 signe1
z_ 2 0 2 je1 j2 signe1 2 je1 j2 signe1 k2 signe1 ; 4
where e1 x1  z1 stands for the estimation error of x1 , 1 o
o 1, 0:5 o 1 o 1, 2 21  1, 1 1=1 , 2 1=1 1  1,
k1 and k2 are the gains designed to cope with the external
disturbance t and will be established later.
In view of the original system in Eq. (2) and the designed
observer in Eq. (4), one can obtain the corresponding observer
error dynamics
e_ 1 e2 f x1  f z1  je1 j1 signe1  je1 j1 signe1  k1 signe1
e_ 2  2 je1 j2 signe1  2 je1 j2 signe1  k2 signe1 t ; 5
Assumption 3. The known function f x is differentiable for all
x A R, and the rst time derivative of f x is bounded.
According to the differential mean value theorem, the following
equation can be obtained:
' 
f x1  f z1 f x1  z1 ; A x1 ; z1 6
' 
Let a denote f , substituting (6) into (5) yields
e_ 1 e2 ae1  je1 j1 signe1  je1 j1 signe1  k1 signe1
t 7
 S. Xiong et al. / ISA Transactions 58 (2015) 309317 311

The nite time convergence of the estimation errors in Eq. (5) can Lf V e1 ; e2 are respectively homogeneous of degrees 2= and
be presented in the following theorem: 2= 1  1 with respect to the weights 1; 1 .
By using Lemma 4.2 in reference [32], the following inequality
Theorem 1. Consider the augmented system in Eq. (2), and Ass-
holds:
umptions 1, 2, and 3 hold, if the nite time convergent extended state
observer is designed as Eq. (4), then the estimation errors e1 and e2 Lf V e1 ; e2 r  1 V e1 ; e2 1 ; 13
will converge to a residual set U 1 governed by
8  1 9
where 1  max Lf V y and 1 1 12  2 r1. In addit-
> > fy: V y 1 g
>
> 1 4 5 >
>
1

> j
> e1 ; e2 e1 ; e2 r p 1   >
> ion, following the theorem in reference [33], one can obtain
>
> >
>
< min P 1 0 3
= lim 1 Z maxP.
U1 ! ; 8 1 -1
>
> 1 4 5 >
>
>
>   >
> Consider the following simplied estimation error dynamical
>
> p 1 >
>
>
: min P 1 1  0  3 >
; system:

e_ 1  je1 j1 signe1
in nite time T 1 with T 1 r t 1 t 2 o 1. Here the convergence
e_ 2  2 je1 j2 signe1 ; 14
times t 1 and t 2 are respectively governed by

1 1  1 1  1  It is clear that the system in Eq. (14) is established by simulta-
t1 o  V 10 1 F 1; ; 1 ;  6 V 02 1 ; 9 neously neglecting the terms e2 ae1  je1 j1 signe1  k1 signe1
1 1  1 2  1 2  1 1
and  2 je1 j2 signe1  k2 signe1 t . Similarly, it can be easily

1 1  1 1  1 2 2  1 veried that the system in Eq. (14) is homogeneous of degree
t2 o  V 1t 1 F 1; ; 1 ;  V ;
1 0 1  1 1 2  1 2  1 1 0 1t 1  1 with respect to the weights 1; 1 .
10 Dene the following Lyapunov function:

where the parameters 1 , 2 , 0 and i i 1; ; 6 are given by V e1 ; e2 eT Pe; 15

h iT
1 2 1= 1=1
where e je1 j signe1 ; je2 j signe2 , 1 2 , P is any
positive denite symmetric matrix. Let f express the vector eld in
1 1 1  r 1
 2 2  Eq. (14), Lf V e1 ; e2 express the Lie derivative of V e1 ; e2 along the
2 1 =21  =2 Z 1 vector eld f . Similarly, it can be easily conrmed that V e1 ; e2 and
1  max Lf V y Lf V e1 ; e2 are respectively homogeneous of degrees 2= and
 
fy:V y 1g
2= 1  1 . Once again on the basis of the lemmas in references
2 
max Lf V y [32,33], the following inequalities can be derived:
y: V y 1

2amax P Lf V e1 ; e2 r  2 V e1 ; e2 2
3 16
min P lim Z maxP;
1 -1 2
2k P
4 1 max 1   
min P 2 where 2 
max Lf V y and 2 1 =21  =2 Z 1.
  y: V y 1
2 k2 max P
In view of the estimation error dynamical system in Eq. (5), the
5 1
1 min P1  2 following Lyapunov function is dened:
6 2  3  4  5 V e1 ; e2 eT Pe; 17
4 5 h iT
0 o 0 o 1  3 ; 1=
where e je1 j signe1 ; je2 j 1=1
signe2 , 1 2 , and P is
1
any positive denite symmetric matrix. Note that the equality
where P represents any positive denite symmetric matrix, V y V e1 ; e2 V e1 ; e2 V e1 ; e2 holds if the parameters 1 , 2 and
V y yT Py denotes the Lyapunov functions, Lf V y and Lf V y P in Eqs. (12), (15), and (17) are selected the same values. Hence, for
stand for the Lie derivatives of V y and V y along the functions f notation convenience, V e1 ; e2 and V e1 ; e2 are identically
and f , respectively. The specied denitions of f and f will be given expressed as V e1 ; e2 . Then take the rst time derivative of the
later. The term F U represents the Gaussian hypergeometric function Lyapunov function V e1 ; e2 in Eq. (17) along the trajectory of Eq. (5),
and further details of it can be referred to [31]. one can achieve that
Proof. Consider the estimation error dynamical system in Eq. (5). V_ e1 ; e2 Lf V e1 ; e2 Lf V e1 ; e2
By ignoring the terms ae1  je1 j1 signe1  k1 signe1 2   3
and  2 je1 j2 signe1  k2 signe1 t , then Eq. (5) reduces to "   #  je1 j  1 k1 sign
1
e1
6 7
je1 j  1 ae1
1

2eT P 2eT P6   7;
e_ 1 e2  je1 j1 signe1 4 5
1  1 t  k2 signe1
1
0 je2 j
e_ 2  2 je1 j2 signe1 ; 11 1

According to the denition in [27], the system in Eq. (11) is 18

homogeneous of degree 1 1 o 0 with respect to the weights Considering Eqs. (13) and (16), Eq. (18) reduces to
1; 1 .
Dene the following Lyapunov function: V_ e1 ; e2 r  1 V e1 ; e2 1  2 V e1 ; e2 2
"   #
je1 j  1 ae1
1
V e1 ; e2 eT Pe; 12 2eT P
h iT
where e je1 j1= signe1 ; je2 j1=1 signe2 , 1 2 , P is any 2
0
  3
positive denite symmetric matrix. Let f represent the vector eld of  je1 j  1 k1 sign
1
e1
6 7
system in Eq. (11), and Lf V e1 ; e2 represent the Lie derivative of 2eT P6   7; 19
4 5
V e1 ; e2 along the vector eld f . In view of the denition and 1  1 t  k2 signe1
1

je2 j 1
lemma in [27], it can be easily demonstrated that V e1 ; e2 and
312 S. Xiong et al. / ISA Transactions 58 (2015) 309317

h     i
Further simplication of Eq. (19) yields r 1 1  0  3 V 1  1 2  4 5 V 1  2  1 0 V 1  2 V 2 ;
2jajmax Peje1 j
1

31
V_ e1 ; e2 r  1 V e1 ; e2 1  2 V e1 ; e2 2

  It can be clearly observed from inequality (31) that the Lyapunov
2k1 max Peje1 j  1
1
function V tends to be stable if the following inequality holds:
     

1 1  0  3 V 1  1 2  4 5 Z 0; 32
 
 
1  1
1

2 k2 max Peje2 j Hence, from inequality (32), it can be easily concluded that V
; 20 converges to a residual set governed by
1
!2 22
where max P denotes the maximum eigenvalue of P. By employing 5 1

Vo  4  ; 33
the following inequality: 1 1  0  3
1
 2 2
12 1
je1 j r e je1 j je2 j1 ; je2 j1 r e; 21 Therefore, V is convergent as long as inequality (32) holds. Then, V
converges to the region in inequality (33) within the nite time
then, equality (20) can be further simplied as 
1 1  1 1  1 2 2  1
t2 o  V 1t  1 F 1; ; 1 ;  V ;
V_ e1 ; e2 r  1 V e1 ; e2 1  2 V e1 ; e2 2 2jajmaxPe 1 0 1  1 1 2  1 2  1 1 0 t1
2

  34
2  1
2k1 max Pe2  2 k2 max Pe
; 22 where V t 1 represents the value of V at the time instant t 1 .
1
By inspecting the preceding analysis, it is clear that the
For notation convenience, the term V e1 ; e2 is abbreviated as V. In Lyapunov function V tends to reach the domain in Eq. (33) within
addition, using the following inequality: the time T 1 r t 1 t 2 o 1. Using inequalities (23) and (33), the
V estimation error vector e converges to the following region within
min Pe2 r V; e2 r ; 23 time T 1 :
min P
!2 12
where min P denotes the minimum eigenvalue of P. Then equality 1 4 5 1

e o p   ; 35
(22) can be further simplied as min P 1 1  0  3
1 h iT
V_ r  1 V 1  2 V 2 3 V 4 V 1  2 5 V 1  2 ; 24 In view of e je1 j1= signe1 ; je2 j1=1 signe2 , one can acquire
2jajmax P 2k P  2  2 1
where3 4 1 max 1  r e e1 ;
2 2
, and e1 ; e2 r je1 j je2 j je1 j je2 j1 36
min P min P
2
 
2 k2 max P Let U 1 represent the residual set of estimation error e1 ; e2 , and is
5 1 . described as
=1 min P1  2 8  1 9
Further analysis is discussed by dividing V into two cases. >
> 4 5 >
>
>  1 
> e1 ; e2 je1 ; e2 r p 1  
1
>
>
< min P 1 0 3
=
Case 1. if V Z1, using the following inequality: U1  ; 37
 > >
  1    >
>
: p
> 1  4 5 >
>
>
0o 1 o 1 o 1 o 2 1 =21  =2 ; 25 min P
1
1 1  0  3 ;
2 2
So inequality (24) is simplied as Hence, the proof of Theorem 1 is completed.
 
V_ r  1 V 1  2  3  4  5 V 2 ; 26 The aforementioned analysis indicates that estimation error
e1 ; e2 can converge to a bounded nonzero residual set around
The gain parameter is chosen to satisfy origin in nite time with a properly selected . Now this section

  will study the terms k1 and k2 such that the estimation error
A 2  3  4  5 Z0 ; 27 e1 ; e2 will converge to zero in nite time.
Inequality (26) holds under the existence of V Z 1. The Lyapunov Dene a Lyapunov function V e1 12e1 2 . Taking the rst time
function V converges to the domain of V  1 from any initial derivative of V e1 along the trajectory in Eq. (5) yields
condition V 0 within the nite time V_ e1 e1 e_ 1 e1 e2 ae1 2  je1 j1 1  je1 j1 1  k1 je1 j

1 1  1 1  1 r jajje1 j2  je1 j1 1  je1 j1 1  k1  je2 jje1 j
t1 o  V 0 1  1 F 1; ; 1 ;  6 V 0 2  1 ;  
1 1  1 2  1 2  1 1 r   jaj je1 j1 1  je1 j1 1  k1  je2 jje1 j; 38
28  
Selecting
 such that it satises  jaj 4 0. Consider
where 6 2  3  4  5 , V 0 denotes the initial value of
1
2
re1 , so combining it and Eq. (35) gives
2
je2 j je2 j1
V e1 ; e2 . !
1
Case 2. if V o1, then the inequality (24) reduces to je2 j r p1  4 5 ; 39
  P
min
1 1  0  3
V_ r  1 V 1  2 V 2 3 V 1 4 5 V 1  2 ; 29
It can be seen from inequality (39) that e2 converges to the region
Select a parameter 0 A R satisfying the following inequality:
. Therefore, k2 is selected such that k1 Z holds. In view of
3 4 5 2k P
0 o 0 o 1  ; 30
1 4 1 max 1  , one can obtain
min P 2 !
Rewriting inequality (29) as 1
 4 5
k1 Z p1
   
P 1 1  0  3
V_ r  1 1  0 V 1 3 V 1 4 5 V 1  2  1 0 V 1  2 V 2 min
 S. Xiong et al. / ISA Transactions 58 (2015) 309317 313

0 1
2k1 max P
5 dimensional nonlinear system:
1 B P 21
C 8
p1 @ min A; 40 > x_ 1 t x2 t
min P 1 1  0  3 >
>
>
>
> x_ t x3 t
>
> 2
>
<
Solving inequality (40) yields 51
>
> x_ n  1 t xn t
>
>
P 1 2 >
> x_ n t f t; x1 t ; x2 t ; ; xn t wt but
k1 Z     5 min ; 41 >
>
1 1  0  3 min P 1  2max P >
: yt x t
1

It can be seen from inequality (41) that the knowledge of e2 is not where xi t ; i 1; ; n denote the states of (51), wt denotes the
needed to be known in selecting k1 . Assume that k1 satises lumped uncertainty, ut is the control input with the gain b, f U
inequality (41), then inequality (38) reduces to denotes the known part of (51), and yt is the output. Extending
1 1   1 1 1 1 1 1
the lumped uncertainty wt as a new state xn 1 t , then (51) can
V_ e1 r  2 2  jaj V e1 2 2 2 V e1 2 ; 42 be rewritten as
8
Then, e1 converges to zero within nite time > x_ 1 t x2 t
>
>
>
> x_ 2 t x3 t
>
>
1 1  1 >
>
>
t3 o 1  1   V e1 T 12 <
>
2 2  jaj 1  1 x_ n  1 t xn t 52
 >
>
> x_ n t xn 1 t f t; x1 t ; x2 t ; ; xn t but
>
1  1 1  1 1  1 1  1
>
>
F 1; ; 1 ; 2 2 V e1 T 1 2 43 >
> x_ n 1 t 0 t
1  1 1  1  jaj >
>
>
:
yt x1 t
where V e1 T 1 denotes the value of V e1 at time instant T 1 .
Once e1 0 occurs after nite time T 2 T 1 t 3 , e1 will stay in The novel extended state observer for (52) is designed as
e1 0 in future time, then one can achieve 8  
>
>
> z_ 1 z2 1 je1 j1 signe1 je1 j1 signe1 k1 signe1
>
>  
e1 e_ 1 0; 44 >
>
>
> z_ 2 z3 2 je1 j2 signe1 je1 j2 signe1 k2 signe1
>
>
>
>
Rewriting the estimation error dynamical system in Eq. (5) as >
<  
> z_ n  1 zn n  1 je1 jn  1 signe1 je1 jn  1 signe1 kn  1 signe1
0 e2 ae1  je1 j1 signe1  je1 j1 signe1  k1 signe1 >
>
>
>  
>
> z_ n zn 1 f z1 ; ; zn n je1 jn signe1 je1 jn signe1 kn signe1
>
>
e_ 2  k2 signe1 t ; 45 >
>  
>
>
>
: z_ n 1 n 1 je1 jn 1 signe1 je1 jn 1 signe1 kn 1 signe1
Solving the rst formula in Eq. (45) gives
  53
je1 j1 signe1 je1 j1 signe1 k1 signe1 e2 ; 46 where e1 x1  z1 , zi ; i 1; ; n are the estimates of xi ; i 1; ;
eq
n, zn 1 is the estimate of wt , 1 o i i 1; ; n 1 o 1,
This results in 1 1=n 1 o 1 o 1, i i1  i 1; 1 o i rn 1, 1 1=1 ,
i 1 i 11  1; 1 o i rn 1, and 0 oki ; i 1; ; n 1.
e_ 2  k2 signe2 t ; 47
 Remark 2. The terms je1 ji signe1 and je1 ji signe1 in (4) and (53)
Following reference [28], the equivalent control signal je1 j1
are both continuous and differentiable although they include the
signe1 je1 j1 signe1 k1 signe1 eq is obtained by passing the
absolute term and signum operator [34]. The terms ki signe1 in
term je1 j1 signe1 je1 j1 signe1 k1 signe1 through a low
(4) and (53) are discontinuous. In order to avoid chattering, the
pass lter.
sign function signe1 is approximated by a sigmoid function
Consider the following Lyapunov function candidate for the 8  
state e2 : <2 1
 12 ; je1 j r
1 exp  e1
sgmf e1 54
1 : signe1 ; je1 j 4
V e2 e22 ; 48
2
where is a constant that is inversely proportional to the
Taking the rst time derivative of V e2 along the trajectory of boundary layer .
system in Eq. (47) yields
1   3. Simulation results
V_ e2  k2 je2 j e2 t r  22 k2  t  V e2 2 ;
1
49
In this section, numerical simulations are implemented to evaluate
One could choose k2 , where 40. Then, the performance of the proposed nite time convergent ESO.
V_ e2 r  22 V e2 2 , this ensure nite time convergence of e2 to
1 1

Consider the following rst order nonlinear plant:

zero. Then, the corresponding convergence time is T 3 T 2 t 4 , 
where t 4 is governed by t
x_ wt 3 cos ; 55
2
22 
1
1  
t4 o V e2 T 2 2 ; 50 where wt denotes the lumped uncertainty, 3 cos 2t represents

the input term. Designating x and wt as x1 and x2 , respectively.
where V e2 T 2 represents the value of V e2 at time instant T 2 . Then, Eq. (55) can be extended to a new second order dynamical
system
Remark 1. Although the proposed novel extended state observer  
x_ 1 x2 3 cos 2t
is designed for a rst order system, we can conveniently extend
this result to the high order systems. Considering the following n- x_ 2 0 t ; 56
314 S. Xiong et al. / ISA Transactions 58 (2015) 309317

In order to estimate the lumped uncertainty x2 , the following nite Case 1: wt sign sin t . The simulation results are as follows.
time convergent ESO is proposed:
 In this case, the disturbance takes the form of sign function and
t  
z_ 1 z2 3 cos je1 j1 signe1 je1 j1 signe1 k1 sgmf e1 is constant except for some isolated points. Therefore, the rst
2 time derivative of disturbance is zero in most of the time. It can be
  seen clearly from Fig. 1 that the estimate of disturbance in the case
z_ 2 0 je1 j 2 signe1 je1 j2 signe1 k2 sgmf e1 ;
2 57
of FTCESO converges faster to the true value than its counterpart in
For comparison, the conventional linear ESO in reference [35] is the case of LESO. As shown in Fig. 2, the estimation error of
also established disturbance converges to zero in about 0.35 s for FTCESO, while
 LESO takes 0.8 s. In addition, FTCESO possesses a smaller estima-
t
z_ 1 z2 3 cos e1 tion error than that of LESO.
2
z_ 2 0 2 e1 ; 58 Case 2: wt sin t . Simulation results are as follows.

The parameters in Eqs. (57) and (58) are chosen as, 10, 1 0.9,
40, 0.05, k1 0.05, k2 is respectively selected as 1 for the
case of wt sign sin t and 375 for the rest cases, the initial
values of x1 , z1 and z2 are respectively selected as x1 0 0.5,
z1 0 0.5 and z2 0 0, the rst order Euler algorithm is employed
to solve the nonlinear dynamical equations with a sample time of
0.001 s.
For simplicity, the ESO in Eqs. (57) and (58) are denoted as
FTCESO and LESO, respectively.
In this case, the disturbance takes the form of sine function
such that its rst time derivative is nonzero in most of the time.
The same phenomenon of faster convergence rate for FTCESO than
that for LESO can be observed in Fig. 3. As displayed in Fig. 4, by
using FTCESO, the estimation error converges to a neighborhood of
the origin with a magnitude of about 0.004, whereas its counter-
part for LESO is roughly 0.1.
Case 3: wt sin 10t . Simulation results are displayed as
follows.

Fig. 1. Estimate of disturbance with wt sign sin t .

Fig. 3. Estimate of disturbance with wt sin t .

Fig. 2. Estimation error with wt sign sin t . Fig. 4. Estimation error with wt sin t .
 S. Xiong et al. / ISA Transactions 58 (2015) 309317 315

Fig. 8. The control strategy of speed turntable.

The above simulation results demonstrate that the proposed

Fig. 5. Estimate of disturbance with wt
FTCESO provides a better disturbance rejection property in contrast
to LESO. The frequency of sinusoidal disturbance in Case 2 is 1/2 Hz,
whereas in Case 3 is 10/2 Hz. In Case 2, both FTCESO and LESO can
obtain accurate estimate of the disturbance. In Case 3, the perfor-
sin 10t . mance of disturbance estimation decreases as the frequency of the
disturbance increases for both FTCESO and LESO. LESO fails to track the
disturbance. However, FTCESO can still achieve accurate estimate of
the disturbance. This demonstrates that FTCESO is suitable for both
slowly and fast changing interferences.

4. Experimental result

This section displays the application of the newly developed

ESO in the motion control of a speed turntable with temperature
box. The speed turntable and its control strategy are shown in
Figs. 7 and 8, respectively.
d is the position command, is the measured position angle, d
is the total disturbance which consists of friction moment, motor
moment uctuation, system parameter change, and unmodeled
dynamics, TD represents the tracking differentiator.
The mathematical model of speed turntable can be described as
x_ 1 x2
x_ 2  12:25x2 190u d 59
The FTCESO for (59) is designed as
8    g1 
>   p1  
Fig. 6. Estimation error with wt sin 10t . > z_ 1 z2 1 x~ 1 signx~ 1 x~ 1 signx~ 1 k1 sgmf x~ 1
>
>
>
<    g 
z_ 2 z3  12:25z2 190u 2 x~ 1  2 signx~ 1 x~ 1  2 signx~ 1 k2 sgmf x~ 1
p
>
>   
>
>  g
: z_ 3 x~ 1  3 signx~ 1 x~ 1  3 signx~ 1 k3 sgmf x~ 1
> p
3

60
where z1 , z2 , and z3 are the estimates of x1 , x2 , and 190d, and
x~ 1 x1  z1 .
For comparison, a nonlinear extended state observer (NESO)
and LESO are designed for (59) as
8    g 
>
> z_ 1 z2 1 x~ 1  1 signx~ 1 x~ 1  1 signx~ 1
p
>
>
>
<    g 
z_ 2 z3  12:25z2 190u 2 x~ 1  2 signx~ 1 x~ 1  2 signx~ 1
p
>
>   
>
>  g
: z_ 3 3 x~ 1  3 signx~ 1 x~ 1  3 signx~ 1
> p

61
8
Fig. 7. Speed turntable. > z_ z2 1 x~ 1
< 1
z_ 2 z3  12:25z2 190u 2 x~ 1 62
As shown in Fig. 5, the FTCESO can generate an accurate >
: z_ x~
3 3 1
estimate of the disturbance while LESO fails. The estimation error
of disturbance under the FTCESO converges to a region around The corresponding parameters are 1 200, 2 4000, 3 3.15
zero with a magnitude of about 0.04, whereas its counterpart  100,000, p1 0.9, p2 2p1  1, p3 3p1  2, g 1 p1 , g 2 g 1
  1
under LESO is 1.45 (Fig. 6). p1  1, g 3 g 1 2 p1  1 , k1 1.4  8, k2 1.4  110, k3 1.4  1800,
316 S. Xiong et al. / ISA Transactions 58 (2015) 309317

Table 1
Rate smoothness for various speeds.

Speed (deg/s) 1 1 5 5  10 10  20 20  30 30

LESO 5.16  10  4 4.99  10  4 2.21  10  4 2.36  10  4 2.28  10  4 2.29  10  4 5.59  10  4 3.10  10  4 9.57  10  5 9.23  10  5
NESO 4.98  10  4 5.22  10  4 2.24  10  4 2.23  10  4 2.22  10  4 2.21  10  4 8.37  10  4 5.54  10  4 1.90  10  4 1.92  10  4
FTCESO 3.72  10  4 3.60  10  4 1.84  10  4 1.78  10  4 1.72  10  4 1.71  10  4 1.31  10  4 1.30  10  4 7.14  10  5 7.35  10  5
Improvement1 27.91% 27.86% 16.74% 24.58% 24.56% 25.33% 76.57% 58.06% 25.39% 20.37%
Improvement2 25.30% 31.03% 17.85% 20.17% 22.52% 22.62% 84.34% 76.53% 62.42% 61.71%

the same. But the rate smoothness of FTCESO is obviously smaller

than that of NESO for all speeds. This result veries the important
role of switching term in the construction of the newly developed
FTCESO.

5. Conclusion

In this paper, a novel nite time convergent extended state

observer is proposed. In contrast to traditional extended state
observer, it does not treat the unknown lumped uncertainty's rst
time derivative as zero. Numerical simulations and experimental
results have demonstrated that the proposed nite time conver-
gent extended state observer possesses faster convergence rate
and smaller estimation error compared with traditional linear
extended state observer.

Fig. 9. Curves of d^ and u for the speed of 101/s.

Acknowledgments
50, 0.04, 1 400, 2 30,000, 3 1.5704  3,000,000. The
closed loop controller is designed as
The authors are grateful for the projects supported by the
u0 3e 0:02_ 63 National Defense Pre-Research Foundation of China (Grant num-
ber B212013XXXX) and the National Natural Science Foundation of
The parameters for tracking differentiator are h0.001, h0 0.02,
China (Grant number 61403355).
and r 1000. The control input of speed turntable is
1
u u0  z3 64 References
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