Generalized output feedback active disturbance rejection control for uncertain lower-triangular nonlinear systems

This paper investigates an output feedback active disturbance attenuation methodology for a class of mismatched perturbed nonlinear systems whose nominal system is a chain of integrators. Inspired by the wide applicability of the generalized extended state observers, an output feedback domination approach is first integrated with the design of recursive composite virtual control laws. Adopting the genuine nonlinear control design, rather than via feedback linearization handling procedure, an explicit composite disturbance attenuation methodology via both state-feedback and output feedback is obtained. A delicate stability analysis assures the effectiveness and a numerical simulation demonstration is provided as well.