Linear Active Disturbance Rejection Control With Partially Canceling Estimated Total Disturbance

Active disturbance rejection control (ADRC) is a quickly developing practical control technology while its tuning is an important research topic. The current mainstream tuning method entirely cancels the estimated total disturbance and results an integrator in linear ADRC's feedback compensator, thus limits the ability to meet design specification of system's type number. This note proposes to partially cancel the estimated total disturbance in linear ADRC. Theoretical analysis and numerical examples show that partially canceling can remove the integrator of the feedback compensator and improve the transient performance of the linear ADRC system.