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Quantitative analysis on the phase margin of ADRC
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The paper analyzes and compares the phase margins of four active disturbance rejection control(ADRC)designs,which are based on different common-used extended state observers(ESOs)of various orders,for second-order systems.The quantitative results indicate that,besides good dynamic response,ADRC can guarantee enough phase margin.It is also proved that by decreasing the order of ESO,the phase margin can be increased.Furthermore,it is demonstrated that the phase margins of the ADRC-based systems can be almost uninfluenced by the uncertainties of the system parameters.Finally,the theoretical results are verified by both simulations and experiments on a motion control platform.
Uncertain systemActive disturbance rejection control(ADRC)Extended state observer(ESO)Phase marginCrossover frequency
Sheng Zhong、Yi Huang
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Beijing Aerospace Automatic Control Institute,Beijing 100854,China
Key Laboratory of Systems and Control,Academy of Mathematics and Systems Science,Chinese Academy of Sciences,Beijing 100190,China
School of Mathematical Sciences,University of Chinese Academy of Sciences,Beijing 100049,China
National Key R&D Program of ChinaNational Natural Science Foundation of China
NETL
NSTL
万方数据
维普
