MATLAB Simulation of ADRC Active Disturbance Rejection Controller

The ADRC (Active Disturbance Rejection Control) controller represents an advanced control technique designed to handle complex systems with strong robustness against disturbances. This MATLAB simulation package provides two distinct implementation approaches through separate M-files. The first M-file employs a discrete method for output calculation, utilizing digital difference equations to approximate system dynamics with efficient computation suitable for real-time applications. The second M-file implements the Runge-Kutta method (typically 4th-order) for higher precision output calculation, providing more accurate continuous system simulation through numerical integration techniques. Both implementations include properly configured parameters for the extended state observer (ESO), tracking differentiator (TD), and nonlinear state error feedback (NLSEF) components - the core elements of ADRC architecture. The controller effectively estimates and compensates for both internal uncertainties and external disturbances in real-time, achieving superior control performance even under challenging operating conditions. The simulation files have been thoroughly tested and parameter-optimized, demonstrating ADRC's capability to maintain system stability and precision across various applications including motor control, power systems, and robotic manipulators. The code structure follows modular design principles, allowing users to easily modify control parameters, test different disturbance scenarios, and integrate the controller into larger simulation frameworks. Key functions include disturbance observation, error compensation, and nonlinear combination of state variables, showcasing ADRC's unique advantage in handling coupled nonlinear systems without requiring precise mathematical models.