Design of multi-loop ADRC controllers based on the effective open-loop transfer function method

A decentralized active disturbance rejection control (ADRC) design method based on effective open-loop transfer function (EOTF) for multi-input/multi-output (MIMO) interactive processes is proposed. The MIMO system is decomposed into a set of equivalent single loops. The coupling effects for a particular loop from all the other closed loops are directly incorporated into the EOTF, and then, the individual controller of each single loop can be designed directly and independently. This multi-loop ADRC control system has advantages in easy understanding, simple tuning and excellent disturbance rejection ability. Several simulation examples demonstrate that the proposed method is effective.