Replacing PI Control With First-Order Linear ADRC

The problem of how to replace an existing continuous-time PI controller with a first-order linear active disturbance rejection controller is investigated. A parametric tuning approach, which is based on the parameters of the PI controller, is proposed. With the first-order linear active disturbance rejection controller generated by the approach, the control system can have almost same gain crossover frequency and phase margin to with the PI controller, while have better performance on rejecting measurement noise and attenuating overshoot when phase margin is not enough.