Parameters tuning of linear active disturbance rejection control based on high order controller design
FU Cai-fen
TAN Wen
Abstract：Placing the poles of the state feedback loop/extended state observer to the same position (so called bandwidthbased tuning) is the most useful method to tune the linear active disturbance rejection controller (LADRC).The method just needs to tune two parameters thus is simple to apply in practice.However,due to the limitation of the same-pole position,bandwidth tuning may not be able to achieve the desired control performance.This paper proposes a convenient LADRC tuning method.The method makes use of the existing controllers as its initial parameters,and tries to guarantee that the tuned LADRC approximates the existing controllers through order reduction and approximation.Design examples show that the proposed method can obtain the comparable control performance with the original controllers.This method does not have to make the feedback controller and the extended observer assign the poles in the same position,so it can be expected to achieve better performance.Moreover,it provides a convenient method to tune the parameters of LADRC for those control engineers who are already familiar with other control design methods.
Keywords：linear active disturbance rejection control (LADRC)parameter-tuningbandwidthorder reductionapproximationhigh order controller
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 265-272 )