Filter-Based Cascaded Linear Active Disturbance Rejection Control for Uncertain Systems with High-Frequency Measurement Noise

The linear active disturbance rejection control (LADRC) method has been proven to be effective for overcoming various system with uncertainties, but its high-gain characteristic is very sensitive to the output noise. So for a class of uncertain nonlinear systems with high-frequency measurement noise, the amplification effect of LADRC on noise is first to be analyzed, and then a cascaded LADRC method based on engineering filter is proposed to realize filtering while compensating for amplitude loss and phase loss of the system output, which ensures the tracking accuracy of closed-loop system. Finally, the effectiveness and robustness of the proposed method is verified by numerical simulations.