Active disturbance rejection control based on a cascade estimator composed of reduced-order and full-order extended state observers.

This paper presents a pioneering cascade estimator, CRESO, which merges reduced-order and full-order extended state observers (ESO) in a novel manner. CRESO is designed to navigate the trade-off between robustness, estimation accuracy, and noise amplification inherent in active disturbance rejection control (ADRC) schemes. An analysis in the frequency domain substantiates CRESO's performance and robustness capabilities compared to those of single-level ESO and cascade ESO (CESO).