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Parameter Identifying Disturbance Rejection Control With Asymptotic Error Convergence


[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics, electrical engineering and space technology

Year of publication


Published in

IEEE Robotics and Automation Letters

Journal year: 2024 | Journal volume: vol. 9 | Journal number: no. 2

Article type

scientific article

Publication language


  • Robust/Adaptive Control
  • Calibration and Identification
  • Formal Methods in Robotics and Automation
  • Adaptation models
  • Convergence
  • Standards
  • Trajectory
  • Transient analysis
  • Observers
  • Output feedback

EN In this letter, a new kind of adaptive controller for the problem of output feedback tracking is proposed on the basis of the Active Disturbance Rejection Control (ADRC) paradigm. The controller is synthesized for the systems linear in parameters by combining the classic ADRC algorithm with a recent Parameter Identifying Extended State Observer (PIESO) which employs a gradient adaptation law to actively identify the parameters of the plant. By means of the Lyapunov analysis, the asymptotic convergence of tracking, estimation, and identification errors is proved in the nominal case and the stability conditions of the closed-loop system are formulated. The theoretical analysis is complemented by simulation and experimental results of the proposed controller.

Date of online publication


Pages (from - to)

1035 - 1042




Ministry points / journal


Impact Factor

5,2 [List 2022]

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