Extended state observer design with fractional order Bode’s ideal cut-off filter in a linear motor motion control system

Abstract

A desired output tracking motion control scheme of a new type of self-made linear motor is proposed in the presence of parameter uncertainties and external disturbance. An extended state observer is designed with a fractional order Bode’s ideal cut-off filter to suppress the high-frequency measurement noise. Characteristics of the linear motor are analyzed, including its working principle, mathematical model, and mechanical structure. A fractional order Bode’s ideal cut-off filter, a second-order extended state observer, a reference acceleration feedforward control scheme, and a normal proportional–derivative algorithm constitute the linear-motion control system in this article. The effectiveness of the control scheme has been verified by comparative simulations and experimental results. The proposed method is an effective way to obtain desired output tracking control performance in actual motion control engineering.