Graphical design of linear active disturbance rejection controller for uncertain first-order-plus-dead-time plant

A linear active disturbance rejection control scheme is presented for the uncertain first-order-plus-dead-time plant. The uncertainty of the system is characterized by Kharitonov theorem, and the gain-phase margin tester approach, combining with D-partition method, is utilized to determine specific performance boundaries. The analysis is conducted graphically, and the feasible regions are explicitly shown in the parameter plane. A computer simulation is provided to demonstrate the effectiveness of the proposed controller.