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Chapter

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Title

Analysis of the decoupling control loop for a plant with input dynamics in the ADRC structure

Authors

[ 1 ] Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ 2 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ SzD ] doctoral school student | [ P ] employee

Scientific discipline (Law 2.0)

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

Year of publication

2024

Chapter type

chapter in monograph / paper

Publication language

english

Keywords
EN
  • input dynamics
  • decoupling control loop
  • plant
  • ADRC
  • Active Disturbance Rejection Control
  • filter
  • extended stater observer
  • robust control
  • shape
  • transfer functions
  • numerical simulation and experiment
Abstract

EN This study addresses the decoupling issue within the Active Disturbance Rejection Control (ADRC) framework, taking into account the existence of additional dynamics in the plant input path. These additional dynamics are not directly incorporated into the observer equations. The paper proposes a compensation strategy that employs a filter to shape the observer’s input signal. The transfer function forms for the structure under analysis, as well as the matching conditions in the input path, have been established. The findings indicate that while the use of an input filter can enhance the stability of the decoupling loop, it may also reduce the disturbance attenuation. The conclusions drawn from analytical studies and numerical simulations are validated by experimental results.

Pages (from - to)

457 - 460

DOI

10.1109/MMAR62187.2024.10680786

URL

https://ieeexplore.ieee.org/document/10680786

Book

2024 28th International Conference on Methods and Models in Automation and Robotics (MMAR)

Presented on

28th International Conference on Methods and Models in Automation and Robotics, MMAR 2024, 27-30.08.2024, Międzyzdroje, Poland

Ministry points / chapter

20

Ministry points / conference (CORE)

20

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