Abstract
In this study, we propose an active disturbance rejection control (ADRC) with time delay. ADRC is typically used for systems with generalized perturbation. An internal model control (IMC) appliers for plants with time delay. This paper proposes a method that combines ADRC and IMC. In addition, we describe a method for estimating the disturbance compensator, the observer gain, and the state-feedback gain. The effectiveness of the proposed method is confirmed through simulation results.
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