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Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...
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Active disturbance rejection control design for high-order integral systems.

Zhenlong Wu1, Gengjin Shi2, Donghai Li2

  • 1School of Electrical Engineering, Zhengzhou University, Zhengzhou 450001, China.

ISA Transactions
|July 11, 2021
PubMed
Summary

Active disturbance rejection control (ADRC) is now theoretically explained for high-order integral systems, overcoming limitations of standard designs. ADRC demonstrates superior robustness and performance compared to PID controllers in simulations and experiments.

Keywords:
Active disturbance rejection controlHigh-order integral systemsRobustnessSensor noise rejection

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Area of Science:

  • Control Engineering
  • Systems Theory

Background:

  • Active Disturbance Rejection Control (ADRC) is widely applied to regular systems due to its disturbance rejection and uncertainty handling capabilities.
  • The application of ADRC to high-order integral systems, prevalent in natural phenomena, has been largely overlooked due to unique system dynamics (lack of poles in s-plane).

Purpose of the Study:

  • To theoretically investigate and address the challenges of designing Active Disturbance Rejection Control (ADRC) for high-order integral systems.
  • To establish the theoretical foundation for ADRC stability in high-order integral systems and compare its advantages over Proportional-Integral-Derivative (PID) controllers.

Main Methods:

  • Theoretical analysis based on the equivalent form of ADRC to prove stability conditions.
  • Comparative analysis of ADRC and PID controllers regarding sensor noise rejection and control signal variation.
  • Development of a practical ADRC design procedure using the single-variable method for high-order integral systems.
  • Experimental validation using a ball and beam system and simulations, including a 100th-order system.

Main Results:

  • A theorem proving the necessary condition for ADRC stability in high-order integral systems was established.
  • ADRC demonstrated superior performance and robustness compared to PID controllers in simulations and experimental tests.
  • The practical design procedure enabled convenient ADRC design for high-order integral systems, even up to 100th order.

Conclusions:

  • Active Disturbance Rejection Control (ADRC) is theoretically viable and practically advantageous for high-order integral systems.
  • ADRC offers enhanced robustness and control performance, outperforming traditional PID controllers in challenging system dynamics.
  • The study provides a framework for applying ADRC to a broader range of complex natural and engineering systems.