Tuning and implementation variants of discrete-time ADRC

作     者：Gernot Herbst Rafal Madonski Gernot Herbst;Rafal Madonski

作者机构：University of Applied Sciences ZwickauZwickauGermany Energy and Electricity Research CenterJinan UniversityGuangzhouChina 

出 版 物：《Control Theory and Technology》 (控制理论与技术（英文版）)

年 卷 期：2023年第21卷第1期

页      面：72-88页

核心收录：

学科分类：08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 

基　　金：The work of R.Madonski was supported by the Fundamental Research Funds for the Central Universities(Project no.21620335) 

主　　题：Active disturbance rejection control(ADRC)-Error-based form Controller tuning Discretization 

摘      要：Practical implementations of active disturbance rejection control(ADRC)will almost always take place in discretized *** 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 *** doing so,the gap between quasi-continuous and discrete-time controller tuning is closed for applications with low sampling *** main contribution of this article is the derivation of three different discrete-time implementations of error-based *** 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 *** this way,error-based implementations become firmly rooted in the established landscape of discrete-time ***,it becomes possible to equip error-based variants with windup protection abilities known from output-based ADRC.