Performance Analysis of UDE based Controllers Employing Various Filters

This work explores performance characteristics of Uncertainty and Disturbance Estimator (UDE) based controllers designed using various filters. Considering a second order uncertain plant, a controller is designed for nominal system to meet desired performance specifications. The controller is then augmented using UDE component to achieve robustness in the presence of uncertainties and disturbances. The UDE component is designed using four different filters proposed in the literature and time and frequency response analysis for the designs has been carried out on common basis to bring out their relative performance characteristics.