Fractional order PD controller based on ADRC algorithm for DC motor

In this paper, a fractional order PD controller (FOPD) based on active disturbance rejection (ADR) algorithm is proposed to control DC motor. The performance of FOPD controller is less dependent on the observational precision of the extended state observer than ADRC. The extended state observer can make the system uncertainty maintained in the insensitive region of the FOPD controller to achieve high precision. The new controller is designed to control the speed of two different DC motors, the results demonstrate that the proposed controller is of more robustness, and it can accommodate the observation error of the extended state observer.