Tuning Optimization of Extended State Observer for Two Mass System with Elastic Joint and Backlash

Extended State Observer (ESO) is an essential part of the Active Disturbance Rejection Control. The paper presents research over optimization of the tuning process of the ESO utilized in motor speed controller for two mass system with variable backlash. Authors presented two approaches to the observer deriving and tuning. The quality of the tuning process was measured with proper performance indexes presented as plots and tables. Conclusions and future work were determinated.