Active disturbance rejection control: Methodology, practice and analysis

An overview of the active disturbance rejection control (ADRC) is presented in this talk. Ever since ADRC was proposed by Jingqing Han in 1990s[1]¹, it has become quite an attractive methodology to applied researchers, even though rigorous theoretical justification was lagging behind for quite some time. The fact that ADRC possesses certain uniqueness in concepts, simplicity in engineering implementation, and superior actual performance allowed it to be readily translated into a valuable asset in engineering practice: namely, the ability in dealing with a vast range of uncertainties, improved transient response, easy implementation and energy savings, to name but a few. The range of applications seems broad, covering almost all domains of control engineering, such as motion control, speed control of induction motor and permanent-magnet synchronous motor, control for noncircular turning process, low-velocity compensation of brushless DC servo, robotic system, underactuated mechanical systems, micro-electro-mechanical systems gyroscope, control for superconducting RF cavities, flight control, attitude tracking of rigid spacecraft, web tension regulation, DC-DC power converter, chemical processes, ALSTOM gasifier benchmark problem, the boilerturbine-generator control systems, stabilization of axial flow compressors, the fractional-order system, etc. [10]-[31]. In the U.S.A., the ADRC solution was recently deployed at a Parker Hannifin Extrusion Plant in North America, resulting in over 50% energy saving per line across ten production lines, together with significant improvements in product quality [32]. And Texas Instrument has adopted the ADRC technology in developing and distributing a new line of motion control chips worldwide [33].The National Superconducting Cyclotron Lab in the U.S. has implemented ADRC in several high energy particle accelerators after significant improvements have been obtained in amplitude and phase regulation of electromagnetic fi- lds. The talk aims to provide the audience with an understanding of the principles behind the success of ADRC and to address questions such as: What´s unique about the concept of ADRC? What characterizes the ADRC as a viable technology? And what to expect in the future regarding the technological expansion and the continuous generation of ideas?