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- Title
Modified active disturbance rejection control scheme for systems with time delay.
- Authors
Jugo, Josu; Elejaga, Ander; Echevarria, Pablo
- Abstract
Active disturbance rejection control (ADRC) has been gaining attention in recent years and has shown its performance in multiple applications including non‐linear ones, without the need of accurate models. Despite the good results of this technique, time delay can deteriorate the performance of ADRC, limiting its application. Here, the effect of time delay on the stability of a linear ADRC is analysed, using an alternative mathematical description, and a new effective design technique, based on a modified ADRC scheme, is proposed to overcome the delay effect while maintaining the disturbance rejection properties of the ADRC. An experimental example is discussed considering a system with low damped mechanical resonances, showing good results using the proposed technique.
- Subjects
TIME delay systems; DESIGN techniques
- Publication
IET Control Theory & Applications (Wiley-Blackwell), 2023, Vol 17, Issue 14, p1992
- ISSN
1751-8644
- Publication type
Article
- DOI
10.1049/cth2.12515