Design Framework of Active Disturbance Rejection Control with System Model

Although Active Disturbance Rejection Control is a control algorithm that does not rely on the object model, its design philosophy does not exclude the use of models. This paper proposes a model-based ADRC design framework. Firstly, a generalized object with an approximately integral cascaded structure is constructed using the model. Then, the ADRC system design is completed based on the generalized object. This framework fully utilizes the model information without altering the original ADRC structure while assisting in the parameter tuning of the controller. Based on this framework, this paper discusses three different scenarios: known transfer function model, linear state-space model, and nonlinear model. Furthermore, simulation and physical experiments are conducted on a typical two-tank water level system to demonstrate the effectiveness of the proposed approach. The results demonstrate the effectiveness of the proposed approach.