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The paper analyses the potential use of a Nondominated Sorting Genetic Algorithm (NSGA-II) in finding the parameters of an Extended State Observer (ESO). The ESO in the proposed framework is used as a part of a disturbancerejection controller, which governs the horizontal position of a nonlinear cart-like system. The considered multicriteria optimization NSGA-II algorithm is introduced to automatically find a set of the observer design parameters that guarantee a desired (and predefined) behavior of the plant. The validity of the considered approach is verified with real experiments conducted on a laboratory testbed.

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