Internal disturbance,extended state,and Han extended realization of the second-order plants without zero
JIN Hui-yu
SHI Guo-ming
LAN Wei-yao
Abstract：Active disturbance rejection control(ADRC)brings new concepts such as internal disturbance,total dis-turbance,and extended state,while interpreting these concepts becomes a new problem of control theory.Taking the second-order plant without zero as an example,this paper interprets the above concepts in the framework of linear system theory.Internal disturbance is interpreted as the signal generated by the feedback item in the controllable canonical form.The concept of Han extended realization is proposed,while extended state,which has a state variable observable but un-controllable,is the state of Han extended realization.Furthermore,extended state observer is the observer of Han extended realization,while linear ADRC is output feedback based on Han extended realization.These results show that the above concepts are totally consistent with linear systems theory,and the research of linear ADRC may bring new directions and vitality into linear system theory.
Keywords：active disturbance rejection controlinternal disturbancetotal disturbanceextended stateHan extended realization
Publication Date：2025-11-30
Online Publishing Date：2025-12-29(First online date of this platform, not the publication date of the document)
Pages：9( 2179-2187 )