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.

中文翻译：

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具有测量不确定度的基于积分型观测器的控制及其在两轮倒立摆中的应用

为了克服在存在测量不确定性的情况下传统干扰观测器的不足，提出了一种使用测量信号的基于积分型观测器的控制方法。积分型观测器以测量信号的显式积分代数形式表示。作为基于积分型观测器和高增益控制器的组合，基于观测器的控制是比例积分微分控制，具有用于反馈线性化的特殊参数组合，结构简单且易于实现。如果没有观察者，仅高增益控制器可能不会具有良好的控制性能，但是由于使用了高增益，即使观察者的性能不够好，所提出的基于观察者的控制也能很好地稳定系统。控制。