Digital realization for position active disturbance rejection controller with bumpless switching function

A method of digital realization for position active disturbance rejection control (ADRC) is proposed in this paper. Based on the principle of first-order and second-order linear ADRC algorithm, an effective technique for bumpless switching is designed and the whole computation flow is illustrated. The proposed algorithm with its C language implementation is tested on its close-loop control function and shows the ability of bumpless switching among the manual, PID and ADRC modes. The simulation results suggest the proposed digital ADRC algorithm with bumpless switching technique is effective and feasible in process control.