Active disturbance rejection control for fractional-order system

Fractional-order proportional–integral (PI) and proportional–integral–derivative (PID) controllers are the most commonly used controllers in fractional-order systems. However, this paper proposes a simple integer-order control scheme for fractional-order system based on active disturbance rejection method. By treating the fractional-order dynamics as a common disturbance and actively rejecting it, active disturbance rejection control (ADRC) can achieve the desired response. External disturbance, sensor noise, and parameter disturbance are also estimated using extended state observer. The ADRC stability of rational-order model is analyzed. Simulation results on three typical fractional-order systems are provided to demonstrate the effectiveness of the proposed method.