Speed control of electrical drives using a full decoupled active disturbance rejection controller

A full decoupled active disturbance rejection speed controllers for electrical drives is presented. After vindicating that the conventional active disturbance rejection control (ADRC) generally gives coupled tracking performance and disturbance rejection property, a full decoupled ADRC based on the same disturbance observer (DOB) but different feedback is designed. As the disturbance rejection property is poor than conventional system, a full decoupled ADRC system based on modified DOB is proposed. The robustness of the obtained closed-loop system is analysed and is found to be satisfactory. All the proposed control designs are validated by means of experiments.