Within the cascade approach to the design of state and perturbation observers, an original method for estimating the derivatives of external perturbations that affect a controlled object is proposed. This method is based on virtual dynamic models compiled by the sequential differentiation of some derivatives of the object’s state variables. Observers are constructed as replicas of virtual models. A cascade design procedure for the observers of the derivatives of external perturbations with piecewise linear corrections is developed. In this procedure, the motions separation method in the virtual space of observation errors is implemented. The observer’s variables and also their corrections serve as estimates of the derivatives of external perturbations. They can be used to design combined feedback control and/or to perform current diagnosis of the control process.

在设计状态和扰动观测器的级联方法中，提出了一种原始方法，用于估计影响受控对象的外部扰动的导数。该方法基于虚拟动态模型，该模型是通过对对象状态变量的某些导数进行顺序微分而编译而成的。观察者被构造为虚拟模型的副本。为外部扰动的导数的观察者提供了分段线性校正的级联设计程序。在该过程中，实现了观察误差虚拟空间中的运动分离方法。观察者的变量及其校正可作为对外部扰动导数的估计。