Basic Simulation Examples of ADRC (Active Disturbance Rejection Control)

Active Disturbance Rejection Control (ADRC) represents a modern control methodology widely adopted in control systems due to its exceptional disturbance rejection capabilities and adaptability. The core principle of ADRC involves real-time estimation and compensation of various disturbances within the system to achieve high-precision control performance. Below are fundamental simulation examples and key advantages of ADRC implementation:

In typical ADRC simulation scenarios, we commonly observe the system's response to external disturbances and internal dynamic variations. Simulation cases include step response analysis, sine tracking verification, and disturbance rejection performance testing. Through simulation, one can visually demonstrate ADRC's robust adaptability to nonlinearities, time-varying parameters, and system uncertainties. Unlike traditional PID control, ADRC doesn't require precise system models - it effectively estimates and compensates for total disturbances through an Extended State Observer (ESO) implementation, typically involving state-space equations and disturbance estimation algorithms.

Key advantages of ADRC include: First, it exhibits low dependency on system models, making it suitable for complex uncertain systems; Second, real-time disturbance estimation and compensation significantly enhance system robustness; Finally, ADRC's structure remains relatively simple, facilitating practical engineering implementation. In industrial applications, ADRC has been successfully deployed in motor control systems, aircraft navigation, and process control domains, demonstrating superior performance compared to conventional methods. Code implementation typically involves ESO design using difference equations, disturbance compensation through control law calculations, and parameter tuning via bandwidth parameterization methods.