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Modified reduced order observer based linear active disturbance rejection control for TITO systems.

S N Pawar1, R H Chile1, B M Patre1

  • 1Department of Instrumentation Engineering, S. G. G. S. Institute of Engineering and Technology, Nanded 431606, India.

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Summary

This study introduces an observer-based control method for two-input, two-output (TITO) systems. The active disturbance rejection control (ADRC) effectively manages disturbances and cross-couplings, outperforming traditional PID methods.

Keywords:
Active disturbance rejection control (ADRC)Extended state observer (ESO)Lumped disturbanceReal time experimentationTwo input two output (TITO) systems

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Area of Science:

  • Control Engineering
  • Systems Theory
  • Applied Mathematics

Background:

  • Multivariable systems (TITO) face challenges from cross-couplings, uncertainties, and external disturbances.
  • Existing control methods like PID may struggle with complex interactions in TITO plants.
  • Active disturbance rejection control (ADRC) offers a framework for handling uncertainties and disturbances.

Purpose of the Study:

  • To propose a novel observer-based control strategy for TITO plants.
  • To actively estimate and compensate for lumped disturbances, including cross-couplings and uncertainties.
  • To demonstrate the efficacy of the proposed method against traditional PID controllers.

Main Methods:

  • Design of a modified reduced-order extended state observer (ESO) for disturbance estimation.
  • Integration of the ESO with active disturbance rejection control (ADRC) for disturbance compensation.
  • Application of the control technique to a TITO coupled plant, with controller parameters determined via a decoupled mechanism.

Main Results:

  • The proposed ADRC with ESO effectively estimates and compensates for lumped disturbances in TITO systems.
  • The control strategy successfully nullifies interactions within the multivariable process loops.
  • Superior transient performance is observed compared to conventional proportional-integral-derivative (PID) control methods.
  • Experimental validation on a two-tank multivariable level control system confirms the proposed scheme's validity.

Conclusions:

  • The developed observer-based ADRC provides an effective solution for controlling TITO plants with significant disturbances.
  • The method demonstrates superior performance in mitigating interactions and improving transient responses.
  • The proposed control scheme offers a robust and valid approach for practical multivariable control applications.