ACTIVE DISTURBANCE REJECTION CONTROL:METHODOLOGY,APPLICATIONS AND THEORETICAL ANALYSIS

This paper illustrates that the essence of employing ADRC to deal with the uncertain system,which may be nonlinear,time-varying and coupling,is to accurately determine the "total uncertainty" which will influence the output of the system.Then several application examples are introduced to demonstrate that ADRC can deal with vast uncertainties and ensure satisfying performance of the closed-loop system.The latest theoretical results on the ADRC based control systems are also introduced in this paper.