Extended State Observer
Libraries:
Simulink Control Design /
Disturbance Observer
Description
The Extended State Observer block lets you design an extended state observer (ESO) algorithm to estimate and compensate for disturbances of linear time-invariant or linear time-varying systems. These disturbances represent total disturbances, including unknown dynamics and internal and external disturbances. Use this block to estimate the states and disturbances of a given discrete-time or continuous-time system based on the system input and output.
The block requires you to specify system dynamics in the following form.
Here:
x is the plant states
is the state derivative in continuous time and x+ is the state update x[k+1] in discrete time.
A, Bu, and Cm are the plant dynamics.
ym is the measurable plant output.
Bd is the disturbance input matrix.
d is the total disturbances in the model, including unknown dynamics and internal and external disturbances.
The block does not require you to provide an actual model of the plant. You can specify the dynamics obtained from a physical representation or an approximation of the plant. Therefore, the accuracy of estimation will depend on the accuracy of the plant approximation you provide.
For more information, see Control Design and Disturbance Compensation Using Extended State Observers.
Examples
Ports
Input
Output
Parameters
Extended Capabilities
Version History
Introduced in R2024a