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As the core of all other ADRC variants covered in this book, the linear continuous-time state-space form of active disturbance rejection control is introduced in this chapter. Generalizing the first- and second-order cases considered in Chap. 2 , the structure of Nth-order linear ADRC is being discussed, consisting of observer and state-feedback controller. Equations for tuning both observer and controller are derived for the so-called bandwidth parameterization approach.

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Linear Active Disturbance Rejection Control

  • 章节

  • 出版模式：

    开放获取

  • 发表日期：

    2025年

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  • Gernot Herbst,
  • Rafal Madonski

摘要

As the core of all other ADRC variants covered in this book, the linear continuous-time state-space form of active disturbance rejection control is introduced in this chapter. Generalizing the first- and second-order cases considered in Chap. 2 , the structure of Nth-order linear ADRC is being discussed, consisting of observer and state-feedback controller. Equations for tuning both observer and controller are derived for the so-called bandwidth parameterization approach.