Performance analysis of Active Disturbance Rejection Control for typical inertial process

Active Disturbance Rejection Control (ADRC) has been successfully applied in many situations, however, lacks of in-depth theoretical analysis. In this paper, performance of ADRC for typical first-order inertial plant is studied. Under the assumption that the three poles of the closed-loop transfer function are all real, necessary and sufficient conditions on the plant's parameters and the ADRC controller parameters are presented to obtain non-overshooting and monotone non-decreasing closed-loop step response. Through examples, we study the control parameter selection method and its ability of resistance to perturbation