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Tuning Rules for Active Disturbance Rejection Controllers via Multiobjective Optimization—A Guide for Parameters Computation Based on Robustness

Author

Listed:
  • Blanca Viviana Martínez

    (Instituto Universitario de Automática e Informática Industrial, Universitat Politècnica de València, 46022 Valencia, Spain)

  • Javier Sanchis

    (Instituto Universitario de Automática e Informática Industrial, Universitat Politècnica de València, 46022 Valencia, Spain)

  • Sergio García-Nieto

    (Instituto Universitario de Automática e Informática Industrial, Universitat Politècnica de València, 46022 Valencia, Spain)

  • Miguel Martínez

    (Instituto Universitario de Automática e Informática Industrial, Universitat Politècnica de València, 46022 Valencia, Spain)

Abstract

A set of tuning rules for Linear Active Disturbance Rejection Controller (LADRC) with three different levels of compromise between disturbance rejection and robustness is presented. The tuning rules are the result of a Multiobjective Optimization Design (MOOD) procedure followed by curve fitting and are intended as a tool for designers who seek to implement LADRC by considering the load disturbance response of processes whose behavior is approximated by a general first-order system with delay. The validation of the proposed tuning rules is done through illustrative examples and the control of a nonlinear thermal process. Compared to classical PID (Proportional-Integral-Derivative) and other LADRC tuning methods, the derived functions offer an improvement in either disturbance rejection, robustness or both design objectives.

Suggested Citation

  • Blanca Viviana Martínez & Javier Sanchis & Sergio García-Nieto & Miguel Martínez, 2021. "Tuning Rules for Active Disturbance Rejection Controllers via Multiobjective Optimization—A Guide for Parameters Computation Based on Robustness," Mathematics, MDPI, vol. 9(5), pages 1-34, March.
    • Handle: RePEc:gam:jmathe:v:9:y:2021:i:5:p:517-:d:508878
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    References listed on IDEAS

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    1. Junnian Wang & Xiandong Wang & Zheng Luo & Francis Assadian, 2020. "Active Disturbance Rejection Control of Differential Drive Assist Steering for Electric Vehicles," Energies, MDPI, vol. 13(10), pages 1-22, May.
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