From PID to ADRC and back: expressing error-based active disturbance rejection control schemes as standard industrial 1DOF and 2DOF controllers

no code implementations • 26 May 2023 • Momir Stankovic, He Ting, Rafal Madonski

In this paper, we uncover a new connection between standard PI/PID controllers and active disturbance rejection control (ADRC), from which we establish formal conditions of equivalence between the two control schemes.

ADRC in Output and Error Form: Connection, Equivalence, Performance

no code implementations • 14 Nov 2022 • Rafal Madonski, Gernot Herbst, Momir Stankovic

In this work, we investigate two specific linear ADRC structures, namely output- and error-based.