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

R. Parvathy, Asha Elizabeth Daniel, and C. Muhamed Noufal

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 the uncertainty reduction of model-based controllers demanded a model-independent single parameter tuning method among industrial controller designers. To 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 as applied to a dc motor system is discussed in this paper. Unlike conventional approaches, the present method treats the dc motor as a second-order system with speed as the output and control voltage as the input. The control mechanism is simplified using the principle of pulse width modulation technique.

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