Active Disturbance Rejection Control Applied to High-order Systems with Parametric Uncertainties
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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.
KeywordsActive disturbance rejection control (ADRC) frequency domain high-order systems tuning method
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