Nonlinear Disturbance Observer-Based Control for Systems with Arbitrary Disturbance Relative Degrees

A novel NDOBC is proposed in this chapter for nonlinear systems with arbitrary DRD via feedback linearization and disturbance observer-based feedforward compensation. A systematic approach is proposed for the design of disturbance compensation gain. It is shown that the offset of closed-loop system with disturbance can be eliminated in steady-state from the output channel under the proposed control method. This chapter mainly refers to [16, 17].