A Novel Design of Active Disturbance Rejection Control for TITO Systems

As a new control method that does not need accurate information of model, active disturbance rejection control (ADRC) treats external and internal disturbance as a total disturbance under extended state observer (ESO) and in order to maintain system performance, a state feedback law is put forward to compensate the total disturbance. We proposed a novel design of ADRC for two- input-two-output (TITO) systems in this paper. The manipulated variables of the two loops are both input into the ESO for the purpose of improving decoupling performance as well as the control performance of ADRC controller. This design of ADRC is easy to understand and has excellent decoupling ability. To prove the effectiveness of proposed method, some simulation examples are conducted.