Transfer function analysis and implementation of active disturbance rejection control

• 作者: Gernot Herbst
• 来源期刊: 控制理论与技术（英文版）
• 年，卷（期）: 2021,（1）
• 所属期刊栏目: RESEARCH ARTICLES
• 页码范围: 19-34
• 页数: 16页
• 语种: 英文

摘要

To support the adoption of active disturbance rejection control(ADRC)in industrial practice,this article aims at improv-ing both understanding and implementation of ADRC using traditional means,in particular via transfer functions and a frequency-domain view.First,to enable an immediate comparability with existing classical control solutions,a realizable transfer function implementation of continous-time linear ADRC is introduced.Second,a frequency-domain analysis of ADRC components,performance,parameter sensitivity,and tuning method is performed.Finally,an exact implementation of discrete-time ADRC using transfer functions is introduced for the first time,with special emphasis on practical aspects such as computational efficiency,low parameter footprint,and windup protection.