Nonlinear Feedback Model of Active Disturbance Rejection Controller Built in Simulink

This document presents a nonlinear feedback model for an Active Disturbance Rejection Controller (ADRC) implemented using Simulink. To deepen the understanding of this model's principles and applications, we can supplement additional relevant content. The ADRC represents a specialized control algorithm that employs an extended state observer (ESO) to estimate and compensate for both internal dynamics and external disturbances in real-time, significantly enhancing system stability and robustness. The nonlinear feedback model utilizes nonlinear gain scheduling and state feedback techniques to handle complex system dynamics, enabling precise control in nonlinear systems through appropriate feedback linearization methods. In Simulink implementation, the ADRC typically consists of three main components: the tracking differentiator (TD) for smoothing reference signals, the extended state observer (ESO) for estimating total disturbances, and the nonlinear state error feedback (NLSEF) law. The nonlinear feedback structure often employs functions like fal(e,α,δ) that combine error magnitude and nonlinear exponents to achieve rapid response while maintaining stability. This combination allows the ADRC nonlinear feedback model to achieve more precise, stable, and reliable control performance in various control systems. We can further explore this model's application areas (such as motion control, power systems, and aerospace engineering), advantages (including strong disturbance rejection, parameter adaptability, and reduced model dependency), and limitations (such as parameter tuning complexity and implementation challenges in high-frequency systems) to facilitate better comprehension and practical application of this advanced control methodology.