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		Jeisson E. Otero?Leal,John Cortés?Romero,Efredy Delgado Aguilera,et al.[en_title][J].Control Theory and Technology,2021,19(1):127~141.[Copy]

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Tuning of active disturbance rejection control for diferentially fat systems under an ultimate boundedness analysis: a unifed integer‑fractional approach
JeissonE.Otero‑Leal,JohnCortés‑Romero,EfredyDelgadoAguilera,FelipeGalarza‑Jimenez,AlexanderJimenez‑Triana
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(Departamento de Eléctrica y Electrónica, Facultad de Ingeníera, Universidad Nacional de Colombia, Bogotá D.C., Colombia;Department of Control Engineering, Universidad Distrital Francisco José de Caldas, Bogotá, Colombia)

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DOI：https://doi.org/10.1007/s11768-021-00037-z

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Tuning of active disturbance rejection control for diferentially fat systems under an ultimate boundedness analysis: a unifed integer‑fractional approach

Jeisson E. Otero‑Leal,John Cortés‑Romero,Efredy Delgado Aguilera,Felipe Galarza‑Jimenez,Alexander Jimenez‑Triana

(Departamento de Eléctrica y Electrónica, Facultad de Ingeníera, Universidad Nacional de Colombia, Bogotá D.C., Colombia;Department of Control Engineering, Universidad Distrital Francisco José de Caldas, Bogotá, Colombia)

Abstract:

An adaptation of the active disturbance rejection control (ADRC) approach is applied to a fractional-order system with a fat output. Albeit the rather scarce information about the system, the conditions to establish an ultimate bound for a specifc confguration of the system are found and compiled in a guideline for the tuning of the observer implemented in the ADRC.

Key words: ADRC · Fractional-order system · Ultimate bound · Final value theorem