中文摘要：

Fal函数是一种特殊的非线性结构,是自抗扰控制器中扩张状态观测器（ESO）的核心部分。提出了Fal函数滤波器,对于噪声有较好的滤波效果,并分析了Fal函数滤波器的滤波特性。提出了一种基于Fal函数滤波器的新型ESO,用于处理量测环节带有噪声干扰的情况。与扩展一阶状态到ESO的方法以及扩展滤波器方程到ESO的方法相比,该新型ESO无须扩展ESO的阶数,避免了因阶数增加带来的观测误差增大以及参数整定问题。数值仿真表明,该新型ESO对于带有量测噪声的系统具有较好的状态跟踪效果。

英文摘要：

Fal function is a kind of special nonlinear structure,which is the key part of extended state observer in auto disturbance rejection controller.Fal function filter was proposed,which has good filtering effect on noises;moreover the filtering characteristics of Fal function filter was analyzed.Then a new type extended state observer（ESO） based on Fal function filter was proposed to deal with nonlinear system with measurement noises.Comparing with the method of extending a rank state to ESO and that of extending filter equation to ESO,this new method did not need extend the rank of ESO.So the tracking error increasing problem and the parameter tuning problem can be avoided.At last,the simulation results show that this new type ESO has good performance of states tracking for system with noises measurement.