No abstract

A highly robust active disturbance rejection controller (ADRC) is developed in this paper. The proposed ADRC consists of a tracking differentiator (TD) in the feed forward path, an extended state observer (ESO), and a nonlinear state error feedback control law (NLSEF) in the feedback path. The control theory, the structure of ADRC and the controller design are presented. LabVIEW is used for modeling, simulation and analysis of the dynamic system. Simulation results show that the proposed ADRC has excellent control performance, especially outstanding adaptability and robustness external disturbances and model uncertainties.