Tuning and implementation variants of discrete-time ADRC

DOI10.1007/S11768-023-00127-0MaRDI QIDQ6158975zbMATH OpenOpenAlexFDO

Authors Gernot Herbst, Rafal Madonski

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/2211.07309

zbMATH Keywords

discretizationcontroller tuningactive disturbance rejection control (ADRC)error-based form

Mathematics Subject Classification ID

Feedback control (93B52) Discrete-time control/observation systems (93C55) Perturbations in control/observation systems (93C73) Observers (93B53)

Abstract: Practical implementations of active disturbance rejection control (ADRC) will almost always take place in discretized form. Since applications may have quite different needs regarding their discrete-time controllers, this article summarizes and extends the available set of ADRC implementations to provide a suitable variant for as many as possible use cases. In doing so, the gap between quasi-continuous and discrete-time controller tuning is being closed for applications with low sampling frequencies. The main contribution of this article is the derivation of three different discrete-time implementations of error-based ADRC. It is shown that these are almost one-to-one counterparts of existing output-based implementations, to the point where transfer functions and coefficients can be reused in unaltered form. In this way, error-based implementations become firmly rooted in the established landscape of discrete-time ADRC. Furthermore, it becomes possible to equip error-based variants with windup protection abilities known from output-based ADRC.

Cites work

• ADRC in output and error form: connection, equivalence, performance
• Active disturbance rejection control: applications in aerospace
• Active disturbance rejection control: between the formulation in time and the understanding in frequency
• Active disturbance rejection control: some recent experimental and industrial case studies
• Feedback systems. An introduction for scientists and engineers
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Cited in

(1)

• On tuning of ADRC with competing design indices: a quantitative study

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