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In this paper, a novel disturbance rejection approach is developed for a class of nonlinear systems, which incorporates the Kalman filter into the equivalent-input-disturbance (EID) structure. First, the EID-based control system and the configuration of the Kalman Filter are illustrated. Then, an optimal estimation theorem is obtained by analyzing the dynamic of the Kalman filter, and a special Kalman gain is derived. Next, the dynamics of the closed-loop system are deduced, and stability is guaranteed based on the Lyapunov function. Finally, simulations with comparison are carried out to demonstrate the excellent performance of both disturbance rejection and noise attenuation.
Huang et al. (Fri,) studied this question.