Abstract: A filter based on an improved Fal function was designed,and its filtering performance was analyzed.Simulation results demonstrate that this filter achieves favorable filtering effects.Building upon this,an improved Extended State Observer (ESO) was developed by integrating the improved Fal function filter with the ESO framework.The performance of the traditional ESO and the improved ESO in handling measurement noise in sinusoidal and step signals was compared and analyzed.Simulation results indicate that,compared with the traditional ESO,the improved ESO exhibits superior performance in both noise suppression and target signal tracking.

Key words: Fal function, wave filter, extended state observer