In order to overcome the difficulties in parameter tuning of the extend state observer(ESO)

Lyapunov functions are used to tune the ESO parameters.In the ESO parameter optimization process

at first we give a linear time-invariant(LTI) order systems about the error

an evaluation function is established to evaluate the index error

and both the controller’s dynamic performance and the control input constraint conditions of the controlled objects are taken into account in the evaluation function.It ...