This paper presents a modified equivalent-inputdisturbance (MEID) approach that enhances the ability of the control system to reject the exogenous disturbances. Since the disturbance-compensation error of the conventional equivalentinput-disturbance (EID) approach contains a state-estimation error, as long as the state-estimation error does not converge to zero, there is a large disturbance-compensation error. The MEID approach obtains the state-estimation error by analyzing the characteristics of the conventional equivalent-input-disturbance (EID) approach and rejects it on the input channel. A comparison with the conventional EID approach through the experiments demonstrates the validity of the new method.
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