|Active Disturbance Rejection Control Applied to High-order Systems with Parametric Uncertainties
Zhengrong Chu, Christine Wu, and Nariman Sepehri*
International Journal of Control, Automation, and Systems, vol. 17, no. 6, pp.1483-1493, 2019
Abstract : Active disturbance rejection control (ADRC) is an emerging control technique known for its simplicity and good disturbance rejection ability. It has been applied to ﬁrst- and second-order systems in many areas. However, the application of the ADRC to high-order systems is few and also challenging because the existing bandwidth tuning method is unable to determine proper controller parameters to achieve desired system performance. To address this problem, a new method is proposed to tune the ADRC for controlling high-order systems. First, the ADRC is decomposed into a controller and a preﬁlter in the frequency domain. Second, they are tuned to satisfy prescribed performance speciﬁcations. Two applications of the ADRC to high-order hydraulic systems are presented. It is shown that the proposed method greatly improves the performance of the ADRC compared to the bandwidth tuning method.
"Active disturbance rejection control (ADRC), frequency domain, high-order systems, tuning method. "