A parameter formula connecting PID and ADRC
Zhong, Sheng1,2; Huang, Yi1,2; Guo, Lei1,2
AbstractThis paper presents a parameter formula connecting the well-known proportional-integral-derivative (PID) control and the active disturbance rejection control (ADRC). On the one hand, this formula gives a quantitative lower bound to the bandwidth of the extended state observer (ESO) used in ADRC, implying that the ESO is not necessarily of high gain. On the other hand, enlightened by the design of ADRC, a new PID tuning rule is provided, which can guarantee both strong robustness and nice tracking performance of the closed-loop systems under the PID control. Moreover, it is proved that the ESO can be rewritten as a suitable linear combination of the three terms in PID, which can give a better estimate for the system uncertainty than the single integral term in the PID controller. Theoretical results are verified also by simulations in the paper.
Keywordnonlinear uncertain systems proportional-integral-derivative PID active disturbance rejection control ADRC extended state observer ESO
Indexed BySCI
Funding ProjectNational Key R&D Program of China[2018YFA0703800] ; National Center for Mathematics and Interdisciplinary Sciences, Chinese Academy of Sciences ; National Natural Science Foundation of China[11688101]
WOS Research AreaComputer Science ; Engineering
WOS SubjectComputer Science, Information Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000556904300001
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Document Type期刊论文
Corresponding AuthorHuang, Yi
Affiliation1.Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Sch Math Sci, Beijing 100049, Peoples R China
Recommended Citation
GB/T 7714
Zhong, Sheng,Huang, Yi,Guo, Lei. A parameter formula connecting PID and ADRC[J]. SCIENCE CHINA-INFORMATION SCIENCES,2020,63(9):13.
APA Zhong, Sheng,Huang, Yi,&Guo, Lei.(2020).A parameter formula connecting PID and ADRC.SCIENCE CHINA-INFORMATION SCIENCES,63(9),13.
MLA Zhong, Sheng,et al."A parameter formula connecting PID and ADRC".SCIENCE CHINA-INFORMATION SCIENCES 63.9(2020):13.
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