Performance analysis of active disturbance rejection tracking control for a class of uncertain LTI systems

- The ADRC design for the general tracking control problem is given.
- The transient performance of ADRC based closed-loop system is shown.
- The stability margin of ADRC based control system is discussed.
- The physical meaning and tuning method for ADRC׳s parameters are presented.

The paper considers the tracking problem for a class of uncertain linear time invariant (LTI) systems with both uncertain parameters and external disturbances. The active disturbance rejection tracking controller is designed and the resulting closed-loop system׳s characteristics are comprehensively studied. In the time-domain, it is proven that the output of closed-loop system can approach its ideal trajectory in the transient process against different kinds of uncertainties by tuning the bandwidth of extended state observer (ESO). In the frequency-domain, different kinds of parameters׳ influences on the phase margin and the crossover frequency of the resulting control system are illuminated. Finally, the effectiveness and robustness of the controller are verified through the actuator position control system with uncertain parameters and load disturbances in the simulations.