Towards backward compatibility of ADRC: revisiting classical state-feedback control with integral compensator

• Autorzy: Mrotek Mikołaj , Michalski Jacek , Madonski Rafał , Pazderski Dariusz , Retinger Marek

Identyfikatory

DOI

10.24425/bpasts.2024.152608

• Języki publikacji: EN

Abstrakty

EN

In this paper, the problem of backward compatibility of active disturbance rejection control (ADRC) is investigated. The goal is to contextualize ADRC to deliver its interpretations from the established field of linear control systems. For this study, a control algorithm, denoted here as integral disturbance rejection control (IDRC), is considered that combines classical state-feedback control with an integral compensator. At first, an interpretation of ADRC is involved in terms of existing state-space control approaches. Next, a transition to the frequency domain is performed, which is justified as a significant part of practical control engineering is conducted in that domain. For assumed specific plant structures, both ADRC and IDRC are then holistically compared in terms of transfer function representation and frequency characteristics, as well as steady-state convergence conditions. Such a juxtaposition helps to highlight the similarities and differences of both approaches, whereas the utilized bandwidth parameterization is shown to bring the control system to the same form, thus indicating some interesting practical aspects. Finally, the theoretical results concerning both considered control structures are validated in a set of numerical simulations and experiments conducted on a laboratory hardware testbed.

Słowa kluczowe

EN

active disturbance rejection control; extended state observer; state feedback control; integral compensator; ball balancing table

PL

aktywna kontrola odrzucania zakłóceń; rozszerzony obserwator stanu; kompensator całkowy; kontrola sprzężenia zwrotnego; stół balansujący kulą

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2025
• Tom: Vol. 73, nr 2
• Strony: art. no. e152608
• Opis fizyczny: Bibliogr. 31 poz., rys., tab., wykr.

Twórcy

autor

Mrotek Mikołaj

• Faculty of Control, Robotics and Electrical Engineering, Institute of Robotics and Machine Intelligence, Poznan University of Technology, Piotrowo 3a, 60-965 Poznan, Poland

• https://orcid.org/0000-0002-5436-5676

autor

Michalski Jacek

• Faculty of Control, Robotics and Electrical Engineering, Institute of Robotics and Machine Intelligence, Poznan University of Technology, Piotrowo 3a, 60-965 Poznan, Poland

• https://orcid.org/0000-0002-1666-7331

autor

Madonski Rafał

• Faculty of Automatic Control, Electronics and Computer Science, Department of Automatic Control and Robotics, Silesian Universityof Technology, Akademicka 16, 44-100, Gliwice, Poland

• https://orcid.org/0000-0002-1798-0717

autor

Pazderski Dariusz

• Faculty of Control, Robotics and Electrical Engineering, Institute of Automatic Control and Robotics, Poznan University of Technology, Piotrowo 3a, 60-965 Poznan, Poland

• https://orcid.org/0000-0002-8732-7350

autor

Retinger Marek

• Faculty of Control, Robotics and Electrical Engineering, Institute of Robotics and Machine Intelligence, Poznan University of Technology, Piotrowo 3a, 60-965 Poznan, Poland

• https://orcid.org/0000-0003-3592-0942

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr POPUL/SP/0154/2024/02 w ramach programu "Społeczna odpowiedzialność nauki II" - moduł: Popularyzacja nauki (2025).