Development of User-defined Block Library for Active-Disturbance-Rejection-Control

In order to built Active-Disturbance-Rejection-Controller (ADRC) simulation models quickly and easily in MATLAB / SIMULINK, a user-defined ADRC Block library is created by the way of developing MATLAB function files for special nonlinear functions, designing system functions (S_function) for dynamic algorithms such as Tracking-Differentiator (TD) and Extended State Observer(ESO), then masking some user defined subsystems for Control Law (CL) combination and ADRC algorithms which often used. The simulation examples show that by using custom model library of ADRC technique, the programming time is short, the block parameters are easy to modify and the modeling methods are efficient. Furthermore, the way of creating a new ADRC block library is simple and the library is easy to be extended. This is a useful tool for searching and simulation of ADRC technology.