Active Disturbance Rejection Controller MATLAB Simulation Program

Active Disturbance Rejection Controller (abbreviated as ADRC) is a novel controller based on active disturbance rejection control theory. The ADRC controller can handle not only traditional linear systems but also nonlinear systems and time-varying systems. The design objective of this controller is to ensure control system stability and performance by compensating for unknown disturbances and model uncertainties. In MATLAB, the ADRC controller can be implemented for system simulation through custom algorithm coding. Key implementation components typically include an extended state observer (ESO) for disturbance estimation, a tracking differentiator for reference signal processing, and a nonlinear feedback control law. The MATLAB code and simulation programs for ADRC controllers can be obtained from various academic papers and online resources. Before implementation, the code requires appropriate modifications to adapt to specific system dynamics and application scenarios, including parameter tuning for observer bandwidth and controller gains.