Maithilishetty / UDE-DiscreteTime

Discrete-Time Uncertainty and Disturbance Estimator.

DiscreteTime-UDE

Discrete-Time Design and Applications of Uncertainty and Disturbance Estimator

Designing the Uncertainty and Disturbance Estimator (UDE), a robust control strategy, in discrete-time. 5 simulation examples provided in the DT-UDE folder:

1. UDE for continuous-time systems (CT UDE): Simulation of a new error-based continuous-time control law
2. UDE for discrete-time systems (DT UDE): Simulation of the derived error-based discrete-time control law
3. DT-UDE for CT systems (DT UDE for CT Plant): Controlling a CT plant using DT UDE designed in 2.
4. DT-UDE for Wing-Rock motion (DT UDE for Wing Rock): Using DT-UDE to control the nonlinear dynamics of wing rock motion
5. DT-UDE based observer for Wing Rock Motion (DT UDE for Wing Rock - Observer) Using an observer to estimate states and for designing the control law

Run data.m in each folder to execute the code.