LAUSR

To overcome the deficiencies of traditional disturbance observers in the presence of measurement uncertainty, an integral‐type observer‐based control using measured signals is proposed. The integral‐type observer is in terms of an explicit integral‐algebra form of measured signals. As a combination of the integral‐type observer and high‐gain controller, the observer‐based control is a proportional‐integral‐derivative control with special combination of parameters for feedback linearization, simple in structure and easy in implementation. Without the observer, the high‐gain controller alone may not have good control performance, but the proposed observer‐based control works very well in stabilizing the system even when the observer performance is not good enough, due to the use of the high‐gain control. The main results are applied to the control of a two‐wheeled inverted pendulum.