Robust internal model control based on a novel generalized extended state observer and its application on a two-inertia system

Disturbance observer (DOB) and extended state observer (ESO) are extensively utilized to handle external disturbances and model uncertainties in the control system. Nevertheless, the integration of these two methods to improve disturbance suppression remains an open question. In this research, the disturbance compensation mechanism of DOB is employed to compensate the disturbance estimation error of ESO, thereby achieving an effective integration of DOB and ESO. Additionally, a generalized ESO (GESO) is proposed to replace ESO. A robust internal mode control (RIMC) scheme is then developed by incorporating GESO into a two-degree-of-freedom internal mode control (TDF-IMC) framework. Moreover, the equivalence of RIMC and classical TDF-IMC is given by a rigorous derivation under the frequency domain description. Finally, the RIMC is applied to the control of a two-inertia system to verify its superiority in terms of robustness, disturbance rejection, and resonance suppression. ●The disturbance compensation principle of the disturbance observer (DOB) is used to compensate for the estimation error of the extended state observer (ESO).●A robust internal mode control (RIMC) method based on a novel generalized ESO is proposed.●The equivalence between RIMC and the two-degree-of-freedom internal model control (TDF-IMC) is proved.●Experiments on a two-inertia system are conducted to demonstrate the effectiveness of RIMC.