Tuning of linear active disturbance rejection controller with robustness specification.

Area of Science:

• Control Engineering
• Automation Systems
• Process Control

Background:

• Active disturbance rejection control (ADRC) effectively handles model uncertainties and external disturbances by treating them as a generalized disturbance.
• Linear ADRC (LADRC) offers a structured approach to control, analogous to PID controllers, with tunable parameters based on observer and feedback bandwidths.

Purpose of the Study:

• To develop a novel tuning rule for LADRC parameters.
• To minimize load disturbance attenuation performance in the integral of time square error (ITSE) sense.
• To ensure robustness for first-order processes with deadtime.

Main Methods:

• Proposed a tuning rule for LADRC parameters.
• Optimized for integral of time square error (ITSE) to minimize disturbance impact.
• Incorporated a robustness constraint for first-order processes with deadtime.
• Validated the tuning rule on benchmark systems and the gravity drained tanks case.

Main Results:

• The proposed tuning rule facilitates parameter tuning for LADRC.
• Demonstrated effective disturbance rejection and control performance.
• Performance was compared against established PID tuning methods.

Conclusions:

• The developed tuning rule provides a systematic approach to LADRC parameter optimization.
• The method offers improved disturbance rejection capabilities for various control applications.
• LADRC, tuned with this rule, presents a viable alternative to traditional PID control for challenging systems.