Discrete Implementation of an Extended State Observer for a Laser Beam System (LBS): Simulations and Experimental Results

This paper explores the discrete implementation of an Extended State Observer (ESO) for a Laser Beam Stabilization (LBS) system, presenting both simulation and experimental results. The study compares a conventionally discretized ESO with a predictor-corrector ESO within a PD control scheme, aiming to reject disturbances and improve real-time performance. The predictor-corrector ESO demonstrates superior disturbance estimation and compensation capabilities, significantly enhancing the precision of laser beam positioning. This implementation lays the groundwork for integrating Active Disturbance Rejection Control (ADRC) with Model Predictive Control (MPC) in a modular approach for advanced optomechatronic systems.