Analysis on Structure of Active Disturbances Rejection Controller

Abstract

Regarding the Active Disturbances Rejection Controller (ADRC) as main line, this present paper has Introduced Extended State Observer (ESO), Tracking Differentiator (TD), Nonlinear State Error Feedback (NLSEF), which are all the key parts of ADRC, in addition, the realization means and specific structure of ADRC is included. In ADRC control system, it is not necessary to identify the plant model and the form of external disturbance, but taking the unified model parameter perturbations and external disturbances on the system as a system disturbance for real-time compensation, therefor the control system has very good adaptability and robustness.