Closed-loop Stability Analysis of Active Disturbance Rejection Controllers and Its Application

Abstract

This paper discusses the stability analysis of the closed-loop systems with Active Disturbance Rejection Con-trollers. A necessary and sufficient condition is derived for a class of linear systems to be stabilized by the controllers. It turns out that the relative degree, and the minimum phase property of the plants plays a crucial role for the closed-loop stability. It is suggested how to choose the design parameters through simulation results. Finally, the effectiveness of ADRC is demonstrated through experiment using a magnetic levitation system.