Active Disturbance Rejection Control with Linear Quadratic Regulator for non-minimum phase systems

Abstract

In this research, a new method for stabilizing non - minimum phase (NMP) system using Active Disturbance Rejection Control (ADRC) is proposed. The general ADRC maintains stability by determining the observer poles and the controller poles, but the non-minimum phase system is very delicate as the stable bandwidth is very limited. Most research using ADRC is the minimum phase system. Therefore, the proposed method is to easily obtain controller gain with a linear quadratic regulator (LQR) using an extended system including ADRC. This widens the range in which the system becomes stable, and can determine the responsiveness of the system with only the adjustment parameter. Further, by obtaining the condition for stabilizing, the system can be stabilized easily. After designing the system design method as the proposed method, the condition is shown for the system to stabilize. Finally, the effectiveness of the proposed method is verified through simulation experiments.