Analysis of robustness for industrial motion control using Extended State Observer with experimental validation

This paper proposes a robust control strategy for industrial motion control using Extended State Observer (ESO). The proposed control enforces robustness without having the information of uncertainties and disturbances. The ESO is used to estimate the lumped uncertainties and guarantee robust performance. The robustness is analyzed for different uncertainties like backlash, friction and disturbances; induced practically on the plant. The effectiveness of the proposed strategy is experimentally validated on industry relevant hardware for trajectory tracking.