Control of Linear Servo Carts with Integral-Based Disturbance Rejection

Abstract

This paper describes a system designed for linear servo cart systems that employs an integral-based Linear Active Disturbance Rejection Control (ILADRC) scheme to detect and respond to disturbances. The upgrade in this control technique provides extensive immunity to uncertainties, attenuation, internal disturbances, and external sources of noise. The fundamental technology base of LADRC is Extended State Observer (ESO). LADRC, when combined with Integral action, becomes a hybrid control technique, namely ILADRC. Setpoint tracking is based on Bode’s Ideal Transfer Function (BITF) in this proposed ILADRC technique. This proves to be a very robust and appropriate pole placement scheme. The proposed LSC system has experimented with the hybrid ILADRC technique plotted the results. From the results, it is evident that the proposed ILADRC scheme enhances the robustness of the LSC system with remarkable disturbance rejection. Furthermore, the results of a linear quadratic regulator (LQR) and ILADRC schemes are comparatively analyzed. This analysis deduced the improved performance of ILADRC over the LQR control scheme.