Robust Disturbance Rejection for Nonlinear Dynamic Systems under Multi-Source Complex Disturbances

To address the disturbance rejection problem of nonlinear dynamic systems facing complex multi-source disturbance, this paper proposes a novel control framework based on a full-order disturbance observer combined with H
∞
control theory. The proposed method categorizes all external disturbance into two major types, namely disturbance suppression and disturbance attenuation, to deal with complex multi-source disturbance from both perspectives. In conclusion, the algorithm was validated through numerical simulations and motor speed experiments. The results confirm that the proposed method exhibits excellent disturbance rejection performance and robustness when facing multi-source disturbances.