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The standard extended state observer based control (ESOBC) method is only applicable for a class of single-input–single-output essential-integral-chain systems with matched uncertainties. It is noticed that systems with nonintegral-chain form and mismatched uncertainties are more general and widely exist in practical engineering systems, where the standard ESOBC method is no longer available. To this end, it is imperative to explore new ESOBC approach for these systems to extend its applicability. By appropriately choosing a disturbance compensation gain, a generalized ESOBC (GESOBC) method is proposed for nonintegral-chain systems subject to mismatched uncertainties without any coordinate transformations. The proposed method is able to extend to multi-input–multi-output systems with almost no modification. Both numerical and application design examples demonstrate the feasibility and efficacy of the proposed method.
Li et al. (2011) studied this question.