Abstract
This work illustrates the use of an Active Disturbance Rejection Control (ADRC) scheme for flat multivariable nonlinear systems. After a preliminary suitable dynamic extension of the system's control inputs, guided by the flatness property, we focus on the resulting input-output coupling matrix simplification that preserves the required closed-loop performance. A rather general methodology is presented that simplifies the severe nonlinearities commonly appearing in the dynamic feedback linearization control scheme; linear ADRC controllers are proposed to achieve robustness. Numerical simulations of a non-trivial rocket control example are presented; a clear simplification of the nonlinear dynamic feedback controller is achieved without compromising the performance of a rest-to-rest trajectory tracking task.
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