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

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (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.

Keywords

ADRC Discrete extended state observer Delta operator 

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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Mechatronics DepartmentUniversidad Politecnica del Valle de MexicoTultitlan Estado de MéxicoMexico
  2. 2.UPIITA-IPNMexico CityMexico
  3. 3.Energy Electricity Research Center, International Energy CollegeJinan UniversityZhuhaiP. R. China

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