LAUSR

This paper presents a nonlinear equivalent-input-disturbance (NEID) approach to rejecting an unknown exogenous disturbance in a nonlinear system. An NEID compensator has two parts: a conventional equivalent-input-disturbance estimator and a nonlinear state feedback term. This design ensures that only the exogenous disturbance is rejected and the useful nonlinearity of the system is retained. Unlike other active disturbance-rejection methods, a Lipschitz condition is not necessary to guarantee the convergence of the observation error. Analysis of control performance provides upper bounds for the evaluation of disturbance rejection and the degree of nonlinearity retention. Numerical examples show the validity and superiority of this method.