Based on rigid hammer nonlinear model of a hydroturbine governor, a second order extended state observer (ESO) is used for dynamic feedback linearization.

• 针对水轮发电机组水门调节的刚性水锤非线性模型,采用二阶扩张状态观测器进行动态反馈线性化,并设计了相应的预期动力学方程。