Active Disturbance Rejection Controller Implemented Using S-Function Modules

This document provides MATLAB S-function based source code for implementing an active disturbance rejection controller (ADRC), featuring three comprehensive program examples.

The primary objective of these programs is to assist researchers and students in better understanding the design and implementation principles of ADRC. The implementation utilizes MATLAB's S-function framework, which allows direct integration with Simulink models through custom-written C/C++ or MATLAB code blocks. These programs can be readily incorporated into various control systems to enhance performance and stability.

The source code employs advanced techniques and algorithms to optimize controller design, including extended state observer (ESO) implementation for disturbance estimation and nonlinear feedback control strategies. Key functions include disturbance observation, error compensation, and real-time parameter adjustment mechanisms. Detailed comments and documentation are provided to help users understand both the source code structure and underlying control algorithms.

In summary, these programs serve as valuable resources for anyone interested in active disturbance rejection controllers, offering practical implementation examples and algorithmic insights. We hope these materials will significantly support your research and learning endeavors in advanced control systems.