A Minimum-Footprint Implementation of Discrete-Time ADRC

Abstract

To foster the adoption of active disturbance rejection control (ADRC) and support its deployment even on low-cost embedded systems, this article introduces the most efficient implementation of linear discrete-time ADRC to date. While maintaining all features and the exact performance characteristics of the state-space form, computational efforts and storage requirements are reduced to a minimum compared to all existing implementations. This opens up new possibilities to use ADRC in applications with high sample rates, tight timing constraints, or low computational power.

References in corpus (2)

• Transfer Function Analysis and Implementation of Active Disturbance Rejection Control
• Half-Gain Tuning for Active Disturbance Rejection Control

Cited by in corpus (1)

• Tuning and Implementation Variants of Discrete-Time ADRC