ANALYSIS OF EXTENDED STATE OBSERVER AND ACTIVE DISTURBANCE REJECTION CONTROL IN THE SPEED CONTROL OF DC MOTOR SYSTEM

R. Parvathy

Keywords

Active Disturbance Rejection Control, Extended State Observer, DC motor, Uncertainty Reduction

Abstract

The limitations in three term tuning of the well established Proportional-Integral-Derivative (PID) Controller and difficulty in uncertainty reduction of model based controllers, demanded a model independent single parameter tuning method among industrial controller designers. In order to Mechatronic Systems and Control, Volume 47 take care of the obscurities of the system, including the external disturbances and the uncertain plant dynamics, the concept of Active Disturbance Rejection Control(ADRC) was introduced. The performance analysis of ADRC and Extended State Observer(ESO), as applied to a dc motor system is discussed in this paper. Unlike conventional approaches, the present method treats dc motor as a second order system with speed as output and control voltage as input. The control mechanism is simplified using the principle of pulse width modulation technique.

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