Proper operation of the Active Disturbance Rejection (ADR) controller requires a precise determination of the so-called total disturbance affecting the considered dynamical system, usually estimated by the Extended State Observer (ESO). The observation quality of total disturbance has a significant impact on the control error values, making room for a potential improvement of control system performance using different structures of ESO. In this article, we provide a quantitative comparison between the Luenberger and Astolfi/Marconi (AM) observers designed for three different extended state representations and utilized in the trajectory tracking ADR controller designed for a mechanical system. Included results were obtained in the simple simulation case, followed by the experimental validation on the main axis of a telescope mount.

中文翻译：

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机械系统轨迹跟踪 ADR 控制器中的 ESO 架构：比较

主动干扰抑制 (ADR) 控制器的正确运行需要精确确定影响所考虑的动力系统的所谓总干扰，通常由扩展状态观测器 (ESO) 估计。总扰动的观测质量对控制误差值有显着影响，为使用不同结构的 ESO 提高控制系统性能提供了空间。在本文中，我们提供了 Luenberger 和 Astolfi/Marconi (AM) 观测器之间的定量比较，这些观测器设计用于三种不同的扩展状态表示，并用于为机械系统设计的轨迹跟踪 ADR 控制器。包括的结果是在简单的模拟情况下获得的，然后在望远镜支架的主轴上进行了实验验证。