
Saunder January 22, 2014 10:43 K15053˙Book
Chapter 4
Advanced Nonlinear
Disturbance Observer
4.1 Introduction
Followed by the basic nonlinear disturbance observer introduced in the last chapter,
three advanced nonlinear disturbance observer techniques are illustrated in this chap-
ter. The first one concerns a high-order time varying disturbance case, which implies
that the disturbance can be expressed in time series expansion. The second one fo-
cuses on the output design of the nonlinear disturbance observer, which implies that
only the output but not the state information is employed. The method is inspired
by the ideas of extended state observer