TY - GEN
T1 - Discrete-Time Active Disturbance Rejection Control
T2 - 20th Polish Control Conference, PCC 2020
AU - Ramírez-Neria, Mario
AU - Luviano-Juárez, Alberto
AU - Lozada-Castillo, Norma
AU - Ochoa-Ortega, Gilberto
AU - Madonski, Rafal
N1 - Publisher Copyright:
© 2020, Springer Nature Switzerland AG.
PY - 2020
Y1 - 2020
N2 - The extended state observer (ESO) is a key component in any active disturbance rejection control (ADRC) scheme. Its discrete implementation is thus crucial in practical applications. In this paper, a discrete delta operator ESO is introduced and analyzed. As a starting point, a discrete shift operator ESO is used for transformation from continuous-time to delta operator discrete-time. A quantitative comparison between shift operator and delta operator ESOs (with different sampling time[s]) is conducted here using a servomechanism system. The obtained numerical results show the proposed delta operator observer to work better than the shift operator observer in certain aspects.
AB - The extended state observer (ESO) is a key component in any active disturbance rejection control (ADRC) scheme. Its discrete implementation is thus crucial in practical applications. In this paper, a discrete delta operator ESO is introduced and analyzed. As a starting point, a discrete shift operator ESO is used for transformation from continuous-time to delta operator discrete-time. A quantitative comparison between shift operator and delta operator ESOs (with different sampling time[s]) is conducted here using a servomechanism system. The obtained numerical results show the proposed delta operator observer to work better than the shift operator observer in certain aspects.
KW - ADRC
KW - Delta operator
KW - Discrete extended state observer
UR - http://www.scopus.com/inward/record.url?scp=85088208644&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-50936-1_115
DO - 10.1007/978-3-030-50936-1_115
M3 - Contribución a la conferencia
AN - SCOPUS:85088208644
SN - 9783030509354
T3 - Advances in Intelligent Systems and Computing
SP - 1383
EP - 1395
BT - Advanced, Contemporary Control - Proceedings of KKA 2020—The 20th Polish Control Conference, 2020
A2 - Bartoszewicz, Andrzej
A2 - Kabzinski, Jacek
A2 - Kacprzyk, Janusz
PB - Springer
Y2 - 22 June 2020 through 24 June 2020
ER -