Transfer function analysis and implementation of active disturbance rejection control

DOI10.1007/S11768-021-00031-5zbMATH Open1488.93059arXiv2011.01044OpenAlexW3156951196MaRDI QIDQ3380939FDOQ3380939

Authors: Gernot Herbst 

Publication date: 29 September 2021

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

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.

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

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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)

Cites Work

• Feedback systems: an introduction for scientists and engineers.
• Model-free control
• Active disturbance rejection control: some recent experimental and industrial case studies
• Active disturbance rejection control: between the formulation in time and the understanding in frequency

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• The calculation of stability and robustness regions for active disturbance rejection controller and its engineering application
• Analysis and improvement of the active disturbance rejection control law for second order plants
• Digital realization for position active disturbance rejection controller with bumpless switching function
• ADRC in output and error form: connection, equivalence, performance
• On the notions of normality, locality, and operational stability in ADRC
• Tuning and implementation variants of discrete-time ADRC
• A study on parameters setting methods for active disturbance rejection controller (ADRC)
• Title not available (Why is that?)
• From PID to ADRC and back: expressing error-based active disturbance rejection control schemes as standard industrial 1DOF and 2DOF controllers
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