The Novel Approach to the Tuning of the Reduced-Order Active Disturbance Rejection Controller for Second-Order Processes
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In this paper, the novel approach to the tuning of the Reduced-order Active Disturbance Rejection Controller (RADRC) for the second-order processes is presented. In particular, this work shows that the independent use of five RADRC tuning parameters potentially provides the improvement in the control performance without any deterioration of the quality of the manipulated signal. The concept is based on the zero-pole cancellation technique assuming the second-order model of the process. Then, after theoretical analysis, the conclusions of the practical significance are drawn, and the tuning method is suggested. The theoretical considerations are confirmed by the validation based on the nonlinear laboratory pneumatic system. The validation stage consists of both simulation and experimental tests. The results show an improvement in robustness and a control quality compared to the conventional ADRC controller tuned using by the conventional method and to the conventional PID controller.
KeywordsReduced-order Active Disturbance Rejection Controller (RADRC) Second-order process Tuning rules Practical verification
Paweł Nowak and Jacek Czeczot were financed by the grant from the Silesian University of Technology - subsidy for maintaining and developing the research potential in 2020. Patryk Grelewicz was financed by the European Union through the European Social Fund (grant POWR.03.02.00-00-I029).
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