Linear Active Disturbance Rejection Controller Design Based on Disturbance Response Specification for a 1st Order Plant

摘要

This paper proposed a linear active disturbance rejection control (LADRC) for the 1st order plant mathematical model based on the disturbance response specification of the closed-loop system. The relationship between the disturbance and the plant output is clarified before the peak of the disturbance response is calculated. The LADRC parameters can be uniquely determined by comparing the coefficients of the low-dimensional transfer function with the 2nd order normative model. Also, the effectiveness of the proposed method is obtained by performing numerical simulations and comparing the results with the conventional PI control. Furthermore, we clarified the policy for setting up the proposed LADRC by showing a Bode diagram of the closed-loop LADRC system.