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Open Access 2025 | Open Access | Buch

Active Disturbance Rejection Control

From Principles to Practice

verfasst von: Gernot Herbst, Rafal Madonski

Verlag: Springer Nature Switzerland

Buchreihe : Control Engineering

Enthalten in: Springer Professional "Wirtschaft+Technik" , Springer Professional "Technik"

Inhaltsverzeichnis

Über dieses Buch

This open access text offers the first comprehensive introduction to the fundamental principles and practical implementation of Active Disturbance Rejection Control (ADRC). Drawing on their years of experience in both research and industry, the authors have designed the text to be accessible to readers at any level of knowledge and experience with ADRC. Multiple entry points and paths through the text are defined so that it can be easily adapted to their specific needs.

Part I covers the theoretical foundations of ADRC, giving readers the basic information in a self-contained, tutorial style. Emphasis is placed on first developing an intuition for ADRC through illustrative examples inspired by real control problems. The main concepts are then introduced and explored in a more formal and concise manner using standard control-domain-related terminology.

Part II demonstrates methods for applying ADRC in practice through software-based implementation. Utilizing laboratory testbeds to mimic real control problems from process and control areas, the authors illustrate the use of software through both model-based environments - including MATLAB/Simulink - and low-level C programming language. Common issues that one can encounter when implementing controllers in the real world are also examined, and specific solutions to these problems are offered that retain the simplicity of ADRC.

This book can be used as a textbook, handbook, or reference manual, and through its many entry points, can be easily picked up by students, practitioners, and scientists. Having in mind its introductory nature, the prerequisites for studying the considered subject are intentionally not very strict. Readers should have at least basic knowledge of systems and controls, as well as an understanding of core mathematical concepts of calculus, linear algebra, and differential equations.

Inhaltsverzeichnis

Frontmatter

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Foundations

Frontmatter

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Chapter 1. Prelude: A Fresh Look

Abstract

Several aspects make this book different, and doing things not the usual way is its recurring motif. Therefore, in this chapter, we focus on establishing those unique aspects of the book that constitute its claimed titular “fresh look.” This expression has a double meaning here. On the one hand, it refers to the active disturbance rejection control (ADRC) as this unorthodox approach in the control landscape and on the other to the fresh look at how ADRC can be introduced to those interested in it. We will also answer here some basic important questions like what exactly is in the book, why is it constructed the way it is, to whom the book is for, and what is the best way to use it depending on the reader’s background.

Gernot Herbst, Rafal Madonski

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Chapter 2. First Contact with ADRC

Abstract

We strive to make the initial encounter with ADRC a smooth and pleasant experience for novices. Therefore, in this chapter, we will rely heavily on illustrative examples inspired by real plants. With such a “show, don’t tell” narration, we want to introduce the fundamental aspects of ADRC for some easily recognizable systems from engineering practice. We purposefully avoid complicated jargon and derivations here to give readers the gist of how the ADRC approach can be used to look at and solve various control problems. We deliberately focus on showing ad hoc solutions for first- and second-order plants as they are the most prevalent. Through the shown illuminative examples, we hope that you will not only start seeing a pattern in the design process of the ADRC methodology but also be intrigued enough about its simplicity and effectiveness to want to explore it further with this book.

Gernot Herbst, Rafal Madonski

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Chapter 3. Linear Active Disturbance Rejection Control

Abstract

As the core of all other ADRC variants covered in this book, the linear continuous-time state-space form of active disturbance rejection control is introduced in this chapter. Generalizing the first- and second-order cases considered in Chap. 2, the structure of Nth-order linear ADRC is being discussed, consisting of observer and state-feedback controller. Equations for tuning both observer and controller are derived for the so-called bandwidth parameterization approach.

Gernot Herbst, Rafal Madonski

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Chapter 4. Between Time and Frequency Domains

Abstract

In this chapter, we will contextualize ADRC to deliver interpretations from the established field of linear control systems. This will, firstly, involve an interpretation of ADRC in terms of existing state-space control approaches. Secondly, a transition to the frequency domain is being made, as a major part of practical control engineering is performed in this domain. Analyzing and understanding ADRC from a frequency-domain perspective allows for a much easier migration from the PID world of controllers.

Gernot Herbst, Rafal Madonski

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Chapter 5. Visual Tour

Abstract

A picture is worth a thousand words. This chapter aims at analyzing and showcasing ADRC in a predominantly visual manner, in both time and frequency domains, going from modeling to tuning and its closed-loop behavior. What can one expect from ADRC regarding tracking performance and disturbance rejection? What is the influence of its modeling and tuning parameters? And what if we set them too low or too high?

Gernot Herbst, Rafal Madonski

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Chapter 6. Extensions and Modifications

Abstract

ADRC is not a fixed set of equations and hence should not be viewed as a magical set of formulae that, once implemented on the real system, will do wonders. It should instead be understood as a modular, flexible framework that could be tailored to specific applications. This, however, requires a bit of a different mindset—one that is open to change. In this chapter, we show potential extensions and modifications to the ADRC scheme which take into account practical scenarios where certain actionable information is available about the governed system and/or acting disturbance. We also show how the performance of ADRC can be increased, for the price of additional tuning, by incorporating some nonlinear components. We will also introduce a so-called error-based variant of the ADRC scheme which is considered a bare-bones version and has some interesting practical characteristics.

Gernot Herbst, Rafal Madonski

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Chapter 7. Interlude: A Look Around

Abstract

Equipped with an essential understanding of ADRC, one could confidently move to the second part of the book, which deals with its practical implementation. But for those wishing to get a wider look at the topic of ADRC and get a bit more context than what has been provided in the book so far, we use this chapter to take a quick pause and look around. Here we recall what we covered so far in the first part, put things in historical perspective, and provide relevant bibliographical support. We also briefly touch on some of the topics in the area of ADRC, which, although interesting and horizon-broadening, go beyond the scope of this book, which is focused on fundamentals. Finally, we discuss what is to come in Part II.

Gernot Herbst, Rafal Madonski

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Going Practical

Frontmatter

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Chapter 8. Discrete-Time Linear ADRC

Abstract

We have now reached an important milestone in the book, and with this chapter we are moving from the theoretical foundations of ADRC to its applications. Putting ADRC in practice will almost always be in the form of a software-based implementation, be it in embedded systems or on PLC. Given the inherent discrete-time nature of the underlying target processor systems, it is obvious that the continuous-time variants of ADRC discussed so far are not yet the answer when asking for an actual implementation. To cross the line between “theory” and “practice” that has been established in the subtitle of this book, we will therefore present several discrete-time variants of linear ADRC with different feature sets in this chapter. All of them are ready for use in industrial practice and range from state-space to transfer function forms optimized for a low computational footprint.

Gernot Herbst, Rafal Madonski

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Chapter 9. Practical Aspects

Abstract

Tuning a controller is not always the hardest part. Its implementation in a real-world control loop requires additional efforts: One might have to be able to (gracefully) turn the controller on or off, modify its parameters while in operation, and deal with unwanted behaviors such as measurement noise, actuator limitations, or time delays in the control loop. This is usually easier said than done. In this chapter, we examine some of these issues and try to offer solutions that maintain the simplicity we consider a vital part of the “ADRC spirit.”

Gernot Herbst, Rafal Madonski

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Chapter 10. Software Implementation

Abstract

The “cooking recipes” in this book shall provide guidance and encouragement for custom ADRC implementations. To demonstrate that the transition from principles to practice is immediately possible based on the results from previous chapters, we will implement discrete-time variants in software form in this chapter; both using a model-based environment and using manual C language coding.

Gernot Herbst, Rafal Madonski

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Chapter 11. Application Examples

Abstract

Having already introduced various extensions and modifications of the ADRC structure and its discrete-time variants for software-based implementation, we are ready to put it to work! To show how ADRC performs in actual applications, here we consider two laboratory testbeds representative of a spectrum of real control problems one can encounter in engineering practice. For those application examples, custom-made ADRC-based solutions are devised, designed, and deployed. We make an arbitrary choice to use the previously derived discrete-time state-space ADRC in the first example and its transfer function form for the implementation in the second example. For each of the considered cases, we will show similar steps including a brief plant description, formulation of the control problem, implementation and commissioning of the selected ADRC (based on already introduced “cooking recipes”), initial validation in simulation, and finally physical validation on target hardware. The examples will differ vastly regarding not only their dynamics but also the method chosen for plant modeling, covering both an experimentally driven approach and a case based on theoretical and numerical analyses.

Gernot Herbst, Rafal Madonski

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Chapter 12. Postlude: A Look Ahead

Abstract

Here we deal with the future, both nearest and that a bit further. First, supported by the body of knowledge we have put forward with this book, we make a case for using ADRC in the future. Then, we provide key takeaways on how to use ADRC moving forward and how this book can facilitate that. And even though we are heading toward the end of Part II, this is not the end of the book yet. We explain what substantial information is still coming and why it can be especially useful to returning readers. Here we also gather and list all the “cooking recipes” which are ready-to-use procedures to tune and implement all ADRC variants covered in the book. Finally, we take a look at ADRC in a broader sense and discuss possible avenues for its further development.

Gernot Herbst, Rafal Madonski

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Backmatter

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Titel: Active Disturbance Rejection Control
verfasst von: Gernot Herbst
Rafal Madonski
Verlag: Springer Nature Switzerland
Electronic ISBN: 978-3-031-72687-3
Print ISBN: 978-3-031-72686-6
DOI: https://doi.org/10.1007/978-3-031-72687-3