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Quantitative analysis on the phase margin of ADRC

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Abstract

The paper analyzes and compares the phase margins of four active disturbance rejection control (ADRC) designs, which are based on different common-used extended state observers (ESOs) of various orders, for second-order systems. The quantitative results indicate that, besides good dynamic response, ADRC can guarantee enough phase margin. It is also proved that by decreasing the order of ESO, the phase margin can be increased. Furthermore, it is demonstrated that the phase margins of the ADRC-based systems can be almost uninfluenced by the uncertainties of the system parameters. Finally, the theoretical results are verified by both simulations and experiments on a motion control platform.

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Acknowledgements

The authors want to express their grateful thanks to Professor Zhijun Yang from Guangdong University of Technology for providing the experimental platform.

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Authors and Affiliations

  1. Beijing Aerospace Automatic Control Institute, Beijing, 100854, China

    Sheng Zhong

  2. Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing, 100190, China

    Sheng Zhong & Yi Huang

  3. School of Mathematical Sciences, University of Chinese Academy of Sciences, Beijing, 100049, China

    Sheng Zhong & Yi Huang

Authors
  1. Sheng Zhong
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  2. Yi Huang
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Correspondence to Yi Huang.

Additional information

This work was supported by the National Key R & D Program of China (No. 2018YFA0703800) and the National Natural Science Foundation of China (No. U20B2054).

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Zhong, S., Huang, Y. Quantitative analysis on the phase margin of ADRC. Control Theory Technol. 21, 4–15 (2023). https://doi.org/10.1007/s11768-023-00128-z

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