On convergence of the linear extended state observer

Motivated by the gap between theory and practice in control problems, Linear Active Disturbance Rejection Control (LADRC) addresses a set of control problems in the absence of precise mathematical models. LADRC depends on the quick convergence of a unique state observer, known as the extended state observer, proposed by Han. This paper shows numerically the tracking condition and the absolute error estimation of this observer for a class of nonlinear and uncertain motion control problems.