Tuning and implementation variants of discrete-time ADRC
Gernot Herbst1
Rafal Madonski2
1.University of Applied Sciences Zwickau,Zwickau,Germany2.Energy and Electricity Research Center,Jinan University,Guangzhou,China
摘要：Practical implementations of active disturbance rejection control(ADRC)will almost always take place in discretized form.Since applications may have quite different needs regarding their discrete-time controllers,this article summarizes and extends the available set of ADRC implementations to provide a suitable variant for as many as possible use cases.In doing so,the gap between quasi-continuous and discrete-time controller tuning is closed for applications with low sampling frequencies.The main contribution of this article is the derivation of three different discrete-time implementations of error-based ADRC.It is shown that these are almost one-to-one counterparts of existing output-based implementations,to the point where transfer functions and coefficients can be reused in unaltered form.In this way,error-based implementations become firmly rooted in the established landscape of discrete-time ADRC.Furthermore,it becomes possible to equip error-based variants with windup protection abilities known from output-based ADRC.
机标关键词：adrcdiscrete-timeimplementationtuningvariants
论文发表日期：2023-02-05
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：17( 72-88 )
英文信息