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

DOI10.1007/S11768-023-00129-YMaRDI QIDQ6158974zbMATH OpenFDO

Authors Rafal Madonski, Gernot Herbst, Momir R. Stanković

Publication date 20 June 2023

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

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

zbMATH Keywords

active disturbance rejection control (ADRC)comparative analysisequivalence conditionerror-based formoutput-based form

Mathematics Subject Classification ID

Perturbations in control/observation systems (93C73)

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.

Cites work

• Active disturbance rejection control: some recent experimental and industrial case studies
• On dealing with harmonic uncertainties in the class of active disturbance rejection controllers
• 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

Cited in

(4)

• 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
• A robust MP-ADRC-based strategy for uncertain minimum phase systems
• Shaft speed optimization and performance analysis of heavy-duty gas turbines based on fully actuated system with flexible disturbance rejection

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