Tracking Differentiator in Active Disturbance Rejection Controller Built with Simulink

In active disturbance rejection controllers constructed using Simulink, incorporating a tracking differentiator module enables more precise control system implementation. This component facilitates real-time tracking and adjustment of discrepancies between system inputs and outputs through numerical differentiation algorithms, thereby improving both dynamic performance and stability. The tracking differentiator typically employs discrete-time optimization techniques, such as the Han tracking differentiator algorithm, which calculates smooth derivative signals while minimizing noise amplification. By integrating this module into the controller architecture, engineers can effectively handle system uncertainties and external disturbances using time-optimal control principles. This implementation often involves configuring saturation limits and filter parameters in Simulink blocks to achieve improved transient response and disturbance rejection capabilities, resulting in superior overall control performance.