State filtered disturbance rejection control

In this work, a novel state filtered disturbance rejection control architecture will be created. Specifically, without requiring disturbances to be continuously differentiable, both matched and mismatched lumped disturbances including smooth and non-smooth disturbances can be feedforwardly compensated by introducing a set of state filters. Based on the powerful command filtered backstepping measure, the adverse effects of ‘‘explosion of complexity” can be obviated. More importantly, by constructing an auxiliary system, the filtering errors originating from both state filters and command filters can be eliminated. The application results verify the effectiveness of the created algorithm.