Active disturbance rejection control of Toggle-Motor coupling Servomechanism System

This paper presents Active Disturbance Rejection Control system for Toggle-Motor coupling Servomechanism System. Genetic algorithm and mixed H2/H∞ norm index are utilized to optimize the system parameters; Monte-Carlo method is applied to evaluate the robustness of the control system. Simulation results show that under the condition of external disturbance, parameters perturbation and coupling, this method has cutting off characteristic for high-frequency noises and achieve lower sensitivity against the disturbances in low frequency range; its settling time is less than 0.5s, there is no step response static error and it has strong performance robustness. Compared with Sliding Mode Control, this method avoids the chattering phenomena; compared with Fuzzy Neural Network Control, structure is simpler.