Decentralized low-order ADRC design for MIMO system with unknown order and relative degree

Many industrial processes are multi-input multi-output (MIMO) systems, in which the order and/or the relative degree are uncertain, and the parameters cannot be obtained accurately. In this paper, for such MIMO systems, the decentralized low-order active disturbance rejection control (ADRC) scheme is designed with tuning method, and the whole design procedure is verified on the plants with/without the time delay. A necessary condition is derived based on the definition of numerator’s zero-order coefficient (NZC) matrix for the closed-loop stability. It is proved that the low-order ADRC scheme can reject the interaction disturbance and guarantee the closed-loop stability for the open-loop stable MIMO plants. This design method is capable of guaranteeing the integrity for the open-loop stable plant with diagonally dominant NZC matrix, which has also discussed in the simulations. Several numerical new methods have given to show the further capability of the ADRC scheme to obtain better performances for the systems with/without time delay.

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