Generalized Active Disturbance Rejection Control: Review, Applications and Challenges

This paper deals with the review, applications and the challenges of the active disturbance rejection control scheme (ADRC) for linear time invariant systems. A brief review of the initial developments of nonlinear ADRC scheme and generalized ADRC (GADRC) technique is provided. Subsequently, the GADRC technique is mathematically formulated and the formulae for the tuning of controller and observer gains are given. The GADRC scheme is then applied for the control of a single axis gimbal system. The mathematical model of the gimbal system is derived. The efficacy of the GADRC is demonstrated via response comparison with linear active disturbance rejection control (LADRC) technique and single degree of freedom internal model control (IMC) approach. The robustness of the controller is verified via investigation of system response on the introduction of step and random torque disturbance. The simulation results testify the effectiveness of the proposed approach.