Transfer function analysis and implementation of active disturbance rejection control

DOI10.1007/S11768-021-00031-5MaRDI QIDQ3380939zbMATH OpenOpenAlexFDO

Authors Gernot Herbst

Publication date 29 September 2021

Published in Control Theory and Technology (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2011.01044

zbMATH Keywords

active disturbance rejection controldigital implementationfrequency-domain analysis

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Feedback control (93B52) Nonlinear systems in control theory (93C10) Digital control/observation systems (93C62) Frequency-response methods in control theory (93C80)

Abstract: To support the adoption of active disturbance rejection control (ADRC) in industrial practice, this article aims at improving both understanding and implementation of ADRC using traditional means, in particular via transfer functions and a frequency-domain view. Firstly, to enable an immediate comparability with existing classical control solutions, a realizable transfer function implementation of continous-time linear ADRC is introduced. Secondly, a frequency-domain analysis of ADRC components, performance, parameter sensitivity, and tuning method is performed. Finally, an exact implementation of discrete-time ADRC using transfer functions is introduced for the first time, with special emphasis on practical aspects such as computational efficiency, low parameter footprint, and windup protection.

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Cites work

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• Feedback systems: an introduction for scientists and engineers.
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