Analytical design of active disturbance rejection control for nonlinear uncertain systems with delay |
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Affiliation: | 1. Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Academia Sinica, Beijing 100190, China;2. School of Computer Science and Applied Mathematics, University of the Witwatersrand, Wits 2050, Johannesburg, South Africa |
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Abstract: | For first-order nonlinear uncertain systems with delay, the analytical design of active disturbance rejection control (ADRC) with matched time delay is rigorously studied. The conditions of stabilizing the closed-loop system are studied in the form of parameters’ explicit sets such that the tuning laws of ADRC can be directly obtained and intuitively demonstrated in engineering practice. The necessary and sufficient condition of the asymptotical stability for the closed-loop system in the case of linear time-invariant is explicitly given. The condition of stabilizing the closed-loop system with nonlinear uncertain dynamics is quantitatively presented. Moreover, the water tank experiment illustrates the proposed tuning laws. |
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Keywords: | Input delay Uncertain system Active disturbance rejection control (ADRC) Reduced order extended state observer Water tank system |
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