Abstract
The article proposes a method that gives the ability to consider the mathematical model of the system as a symmetry-preserving one, even if the conditions of the symmetry for the plant model are not met or if the symmetry was lost during the system operation. The proposed approach is based here on an active disturbance rejection scheme, which assumes an augmentation of the system model, which further leads to an online reconstruction and attenuation of the effects of terms in the plant, that preclude its model from being a symmetry-preserving one. The effectiveness of the proposed technique is presented in the paper using an illustrative example, supported with simulation results.
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