Robust tuning for first-order reduced active disturbance rejection controller

In this paper, the robust tuning method for FirstOrder Active Disturbance Rejection Control based on Reduced-Order Extended State Observer is proposed. Its robustness is ensured by defining gain margin and phase margin constraints and then, for these constraints, the optimal load disturbance rejection is ensured by suggested tuning method in terms of optimal Integral Absolute Error. The D-partition method and virtual gain-phase margin tester is used to determine gain and margin boundaries, while optimization of ADRC tuning parameters is based on Nelder-Mead numerical algorithm. Suggested tuning method is tested by simulation.