ADRC in output and error form: connection, equivalence, performance

DOI10.1007/S11768-023-00129-YzbMATH Open1519.93153arXiv2211.07427MaRDI QIDQ6158974FDOQ6158974

Authors: Rafal Madonski, Gernot Herbst, Momir R. Stanković 

Publication date: 20 June 2023

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

Abstract: In this work, we investigate two specific linear ADRC structures, namely output- and error-based. The former is considered a 'standard' version of ADRC, a title obtained primarily thanks to its simplicity and effectiveness, which have spurred its adoption across multiple industries. The latter is found to be especially appealing to practitioners as its feedback error-driven structure bares similarities to conventional control solutions, like PI and PID. In this paper, we describe newly found connections between the two considered ADRC structures, which allowed us to formally establish conditions for their equivalence. Furthermore, the conducted comprehensive performance comparison between output- and error-based ADRCs has facilitated the identification of specific modules within them, which can now be conveniently used as building blocks, thus aiding the control designers in customizing ADRC-based solutions and making them most suitable for their applications.

Full work available at URL: https://arxiv.org/abs/2211.07427

zbMATH Keywords

comparative analysisactive disturbance rejection control (ADRC)equivalence conditionerror-based formoutput-based form

Mathematics Subject Classification ID

Perturbations in control/observation systems (93C73)

Cites Work

• Active disturbance rejection control: some recent experimental and industrial case studies
• Simplifying ADRC design with error-based framework: case study of a DC-DC buck power converter
• Transfer function analysis and implementation of active disturbance rejection control
• On dealing with harmonic uncertainties in the class of active disturbance rejection controllers

Cited In (2)

• Tuning and implementation variants of discrete-time ADRC
• 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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