A Comparative Study on Control Performance of LADRC and PI Controllers for Servo Applications

The Active Disturbance Rejection Controller (ADRC) stands out for its independence from precise mathematical models of controlled systems, offering attributes like minimal overshoot and robustness. However, its incorporation of nonlinear functions complicates parameter adjustment. To address this, linear ADRC (LADRC) emerges as a linearized variant. In this paper, we explore the application of LADRC theory in controlling Permanent Magnet Synchronous Motor servo systems. Specifically, controllers for the current loop, speed loop, and position loop are designed and compared. Simulation results demonstrate that the LADRC-based servo system exhibits superior dynamic and steady-state performance, robustness against interference, and simplified tuning procedures.