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Control Theory and Technology

, Volume 14, Issue 3, pp 250–259 | Cite as

Active disturbance rejection control: between the formulation in time and the understanding in frequency

  • Qing Zheng
  • Zhiqiang Gao
Article

Abstract

With the rapid deployments of the active disturbance rejection control (ADRC) as a bonafide industrial technology in the background, this paper summarizes some recent results in the analysis of linear ADRC and offers explanations in the frequency response language with which practicing engineers are familiar. Critical to this endeavor is the concept of bandwidth, which has been used in a more general sense. It is this concept that can serve as the link between the otherwise opaque state space formulation of the ADRC and the command design considerations and concerns shared by practicing engineers. The remarkable characteristics of a simple linear ADRC was first shown in the frequency domain, followed by the corresponding analysis in time domain, where the relationship between the tracking error and the ADRC bandwidth is established. It is shown that such insight is only possible by using the method of solving linear differential equations, instead of the more traditional techniques such as the Lyapunov methods, which tend to be more conservative and difficult to grasp by engineers. The insight obtained from such analysis is further demonstrated in the simulation validation.

Keywords

Active disturbance rejection control extended state observer uncertain systems stability bandwidth 

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Copyright information

© South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  1. 1.Department of Electrical and Computer EngineeringGannon UniversityErieUSA
  2. 2.Center for Advanced Control Technologies, Department of Electrical and Computer EngineeringCleveland State UniversityClevelandUSA

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