Design of α-filter-based UDE controllers considering finite control bandwidth

Recently, a new first-order α-filter for uncertainty and disturbance estimator-based control was proposed to achieve reduced tracking and estima- tion errors in the presence of fast-varying uncertain- ties and shown to be capable of keeping the steady- state error within acceptable limits by appropriately choosing filter parameters. The purpose of this note is to demonstrate operation limits of the new filter and quantify performance enhancement by taking practical implementation issues and restrictions into account.

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