Síntesis de control de rechazo activo de perturbaciones para procesos industriales con retardo de tiempo: una...

Uncertain delays or sinusoidal disturbances pose significant challenges for traditional active disturbance rejection control (ADRC) of time-delayed processes, leading to potential instability or performance degradation. To address these difficulties, this paper investigates the control synthesis from a unified perspective of observation reconfiguration (OR), the core concept of which involves reconfiguring the estimated state according to specific challenges. A basic ADRC with a reduced-order model-driven extended state observer is first developed, featuring a concise control structure, intuitive tuning guidance, and detailed stability analysis. To enhance delay robustness, a filter-based OR module reconstructs the estimated state by reshaping the key frequency-domain characteristics. Furthermore, the coordination between the ADRC system and the observer loop is clarified, enabling control parameters to be retuned while maintaining comparable delay robustness. For sinusoidal disturbances, the observer is augmented by incorporating resonant dynamics to generate necessary compensation signals. A delay block subsequently acts as the OR module to counteract the phase shift between the control and disturbance signals precisely. Comparative simulations demonstrate the effectiveness of the proposed method. Experimental validation on an industrial-grade platform further confirms its promising practical applicability.