Uncertainty and Disturbance Estimator-Based Controllers Design Under Finite Control Bandwidth Constraint.

In this paper, tracking versus disturbance rejection tradeoff is revealed and quantitatively investigated for systems utilizing uncertainty and disturbance estimator (UDE)-based controllers. The tradeoff appears to be due to finite control bandwidth, characterizing any real-world application. Based on the exposed findings, guidelines for designing UDE controllers are provided, and respective opera...