Tuning of active disturbance rejection control for differentially flat systems under an ultimate boundedness analysis: a unified integer-fractional approach

An adaptation of the active disturbance rejection control (ADRC) approach is applied to a fractional-order system with a flat output. Albeit the rather scarce information about the system, the conditions to establish an ultimate bound for a specific configuration of the system are found and compiled in a guideline for the tuning of the observer implemented in the ADRC.