Analysis and Control of Real-Time DC Servo System Using Linear ADRC

In this paper, the linear version of active disturbance rejection control (ADRC) technique is studied and analyzed mathematically in detail. First, a generalized state-space analysis is done for the conventional method, where the ability of regulation and tracking, behavior towards input and measurement disturbances are demonstrated algebraically. Next, modifications to the conventional control are proposed and the motivation behind introducing them are proven mathematically. Following this, a Real-Time DC servo system is considered for the verification of the theoretical analysis. This consists of a nominal control operation, where the angular position of the motor is controlled, followed by observation of the effects by step disturbances on its performance. In addition to this, the improvements predicted from the mathematical analyses considering the proposed modifications are verified by the inclusion of the propositions and operating the system in such situations.