Equivalent-Input-Disturbance-Based Speed Control of Two-Mass System Using Generalized Extended State Observer

This work looks into the problem of stabilizing speed control of a two-mass system by efficiently compensating for disturbances. The equivalent input disturbance (EID) method enhances the system's ability to tolerate disruptions and uncertainty. According to this method, the influence of external disturbances and tensions on the output is equated to a disorder in the input channel, triggering the necessary compensation. The system's states and EID (which is referred to as an extended state variable) are then estimated using a generalized extended state observer (GESO). Further, a linear matrix inequality (LMI) that depicts the impact of parameter uncertainty on the estimate error is used to optimize the observer gain of GESO robustly. Numerical simulations highlight the design's effectiveness and robustness under significant tension and disturbances.