Cascade Extended State Observer (CESO)

Implementation example of the cascade extended state observer (CESO), together with conventional extended state observer and GPI observers

Cascade Extended State Observer (CESO)

This MATLAB/Simulink program contains the implementation of an active disturbance rejection control (ADRC) scheme with an innovative cascade extended state observer (CESO) architecture. The CESO architecture is especially effective in control applications contaminated with output measurement noise.

Are you new to ADRC? Check out our 'ADRC Toolbox' for MATLAB/Simulink.

Stay updated with the latest literature on the ADRC-CESO by following our project on ResearchGate.

Overview

The goal of this program is to provide an intuitive control solution for MATLAB/Simulink, allowing the implementation of the ADRC algorithm with CESO quickly and with low effort. The program also contains the standard ESO as well as higher-order ESO (GPIO) architectures allowing for a direct performance comparison. The program is compatible with MATLAB releases R2018b and later.

Two papers describing the detailed information about the developed ADRC-CESO algorithm can be found in [1] (2021) and [2] (2022). When you use this program in your scientific papers, school reports, etc., please make sure to cite them. Thank you!

[1] K. Lakomy, R. Madonski, 'Cascade extended state observer for active disturbance rejection control applications under measurement noise', ISA Transactions, Volume 109, Pages 1-10, 2021, url: https://www.sciencedirect.com/science/article/pii/S0019057820303815

[2] K. Lakomy, R. Madonski et al., 'Active Disturbance Rejection Control Design With Suppression of Sensor Noise Effects in Application to DC–DC Buck Power Converter', IEEE Transactions on Industrial Electronics, vol. 69(1), pp. 816-824, 2022, url: https://ieeexplore.ieee.org/abstract/document/9345372

Citation information in BibTex format can be found in the 'References' section at the bottom of this page.

How to download

All files related to the program, including code, data, and examples, are conveniently packaged into a single *.zip file, which can be downloaded by clicking 'Download' in the top right-hand corner of this website.

How to use

1. Run initialization script init.m from the root folder.
2. Select initial parameters in script files in the init_procedures folder.
3. To simulate the selected control system and plot the results, run script performSingleSimulation.m from the simulation_procedures folder. Alternatively, you can directly run the ObserverTest.slx model and see the results by running script plotData.m.

Program tree

root
 - controller
 - data
 - init_procedures
 - math
 - observers
 - plant
 - signal_generators
 - simulation_procedures

Code contributors

• Krzysztof Lakomy
• Rafal Madonski

Contact

adrc.toolbox(at)gmail.com

References (BibTex format)

@article{CESOisat,
	author = {Krzysztof Łakomy and Rafal Madonski}
	title = {Cascade extended state observer for active disturbance rejection control applications under measurement noise},
	journal = {ISA Transactions},
	volume = {109},
	pages = {1-10},
	year = {2021},
	doi = {10.1016/j.isatra.2020.09.007},
	url = {https://www.sciencedirect.com/science/article/pii/S0019057820303815},
	}

@article{CESOtie,  
	author = {Łakomy, Krzysztof and Madonski, Rafal and Dai, Bin and Yang, Jun and Kicki, Piotr and Ansari, Maral and Li, Shihua},  
	journal = {IEEE Transactions on Industrial Electronics},   
	title = {Active Disturbance Rejection Control Design With Suppression of Sensor Noise Effects in Application to DC–DC Buck Power Converter},   
	volume = {69},  
	number = {1},  
	pages = {816-824},
	year = {2022},
	doi = {10.1109/TIE.2021.3055187}
	url = {https://ieeexplore.ieee.org/document/9345372},
	}

License

MIT