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| ADRC in output and error form: connection, equivalence, performance |
| RafalMadonski1,GernotHerbst2,MomirStankovic3 |
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| (1 Energy and Electricity Research Center, Jinan University, Zhuhai, China;2 University of Applied Sciences, Zwickau, Germany;3 University of Defence, Belgrade, Serbia) |
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| 摘要: |
| In this work, we investigate two specific linear ADRC structures, namely output- and error-based. The former is considered a “standard” version of ADRC, a title obtained primarily thanks to its simplicity and effectiveness, which have spurred its adoption across multiple industries. The latter is found to be especially appealing to practitioners as its feedback error-driven structure bares similarities to conventional control solutions, like PI and PID. In this paper, we describe newly found connections between the two considered ADRC structures, which allowed us to formally establish conditions for their equivalence. Furthermore, the conducted comprehensive performance comparison between output- and error-based ADRCs has facilitated the identification of specific modules within them, which can now be conveniently used as building blocks, thus aiding the control designers in customizing ADRC-based solutions and making them most suitable for their applications. |
| 关键词: Active disturbance rejection control (ADRC) · Output-based form · Error-based form · Equivalence condition · Comparative analysis |
| DOI：https://doi.org/10.1007/s11768-023-00129-y |
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| 基金项目:The work of Dr. R.?Madonski was supported by the Fundamental Research Funds for the Central Universities (Project No. 21620335). The work of Dr. M.?Stankovic was supported by the International Foreign Expert Project Fund of Jinan University (Project No. G2021199027L, coordinator: Dr.?Hui Deng) |
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| ADRC in output and error form: connection, equivalence, performance |
| Rafal Madonski1,Gernot Herbst2,Momir Stankovic3 |
| (1 Energy and Electricity Research Center, Jinan University, Zhuhai, China;2 University of Applied Sciences, Zwickau, Germany;3 University of Defence, Belgrade, Serbia) |
| Abstract: |
| In this work, we investigate two specific linear ADRC structures, namely output- and error-based. The former is considered a “standard” version of ADRC, a title obtained primarily thanks to its simplicity and effectiveness, which have spurred its adoption across multiple industries. The latter is found to be especially appealing to practitioners as its feedback error-driven structure bares similarities to conventional control solutions, like PI and PID. In this paper, we describe newly found connections between the two considered ADRC structures, which allowed us to formally establish conditions for their equivalence. Furthermore, the conducted comprehensive performance comparison between output- and error-based ADRCs has facilitated the identification of specific modules within them, which can now be conveniently used as building blocks, thus aiding the control designers in customizing ADRC-based solutions and making them most suitable for their applications. |
| Key words: Active disturbance rejection control (ADRC) · Output-based form · Error-based form · Equivalence condition · Comparative analysis |
