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Discrete-Time Active Disturbance Rejection Control: A Delta Operator Approach

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Book cover Advanced, Contemporary Control

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1196))

Abstract

The extended state observer (ESO) is a key component in any active disturbance rejection control (ADRC) scheme. Its discrete implementation is thus crucial in practical applications. In this paper, a discrete delta operator ESO is introduced and analyzed. As a starting point, a discrete shift operator ESO is used for transformation from continuous-time to delta operator discrete-time. A quantitative comparison between shift operator and delta operator ESOs (with different sampling time \(\varDelta \)[s]) is conducted here using a servomechanism system. The obtained numerical results show the proposed delta operator observer to work better than the shift operator observer in certain aspects.

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Notes

  1. 1.

    Expressions ‘delta operator’ and ‘\(\varDelta \) operator’ will be used interchangeably throughout the work.

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Author information

Authors and Affiliations

  1. Mechatronics Department, Universidad Politecnica del Valle de Mexico, Av. Mexiquense S/N, C.P. 54910, Tultitlan Estado de México, Mexico

    Mario Ramírez-Neria & Gilberto Ochoa-Ortega

  2. UPIITA-IPN, Av. IPN 2580 Col. Barrio La Laguna Ticomán, Mexico City, Mexico

    Alberto Luviano-Juárez & Norma Lozada-Castillo

  3. Energy Electricity Research Center, International Energy College, Jinan University, Zhuhai, 519070, P. R. China

    Rafal Madonski

Authors
  1. Mario Ramírez-Neria
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  2. Alberto Luviano-Juárez
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  3. Norma Lozada-Castillo
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  4. Gilberto Ochoa-Ortega
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  5. Rafal Madonski
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Corresponding author

Correspondence to Mario Ramírez-Neria .

Editor information

Editors and Affiliations

  1. Institute of Automatic Control, Lodz University of Technology, Lodz, Poland

    Andrzej Bartoszewicz

  2. Institute of Automatic Control, Lodz University of Technology, Lodz, Poland

    Jacek Kabziński

  3. Systems Research Institute, Polish Academy of Sciences, Warsaw, Poland

    Janusz Kacprzyk

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Ramírez-Neria, M., Luviano-Juárez, A., Lozada-Castillo, N., Ochoa-Ortega, G., Madonski, R. (2020). Discrete-Time Active Disturbance Rejection Control: A Delta Operator Approach. In: Bartoszewicz, A., Kabziński, J., Kacprzyk, J. (eds) Advanced, Contemporary Control. Advances in Intelligent Systems and Computing, vol 1196. Springer, Cham. https://doi.org/10.1007/978-3-030-50936-1_115

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