From PID to Active Disturbance Rejection Control
Han, Jingqing
AbstractActive disturbance rejection control (ADRC) can be summarized as follows: it inherits from proportional-integral-derivative (PID) the quality that makes it such a success: the error driven, rather than model-based, control law; it takes from modern control theory its best offering: the state observer; it embraces the power of nonlinear feedback and puts it to full use; it is a useful digital control technology developed out of an experimental platform rooted in computer simulations. ADRC is made possible only when control is taken as an experimental science, instead of a mathematical one. It is motivated by the ever increasing demands from industry that requires the control technology to move beyond PID, which has dominated the practice for over 80 years. Specifically, there are four areas of weakness in PID that we strive to address: 1) the error computation; 2) noise degradation in the derivative control; 3) oversimplification and the loss of performance in the control law in the form of a linear weighted sum; and 4) complications brought by the integral control. Correspondingly, we propose four distinct measures: 1) a simple differential equation as a transient trajectory generator; 2) a noise-tolerant tracking differentiator; 3) the nonlinear control laws; and 4) the concept and method of total disturbance estimation and rejection. Together, they form a new set of tools and a new way of control design. Times and again in experiments and on factory floors, ADRC proves to be a capable replacement of PID with unmistakable advantage in performance and practicality, providing solutions to pressing engineering problems of today. With the new outlook and possibilities that ADRC represents, we further believe that control engineering may very well break the hold of classical PID and enter a new era, an era that brings back the spirit of innovations.
KeywordActive disturbance rejection control (ADRC) extended state observer (ESO) nonlinear proportional-integral-derivative (PID) tracking differentiator
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000263927700032
Citation statistics
Document Type期刊论文
Corresponding AuthorHan, Jingqing
AffiliationChinese Acad Sci, Acad Math & Syst Sci, Inst Syst Sci, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Han, Jingqing. From PID to Active Disturbance Rejection Control[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2009,56(3):900-906.
APA Han, Jingqing.(2009).From PID to Active Disturbance Rejection Control.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,56(3),900-906.
MLA Han, Jingqing."From PID to Active Disturbance Rejection Control".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 56.3(2009):900-906.
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Han, Jingqing]'s Articles
Baidu academic
Similar articles in Baidu academic
[Han, Jingqing]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Han, Jingqing]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.