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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.

Keyword : "Active disturbance rejection control (ADRC), frequency domain, high-order systems, tuning method. "

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