ACTIVE DISTURBANCE REJECTION CONTROL:METHODOLOGY AND THEORETICAL ANALYSIS

The paper first gives a comprehensive comparison of the frame of the Active Disturbance Rejection Control(AQDRC) with other methods for controlling uncertain systems, which includes the adaptive control,robust control,disturbance observers based methods,etc. Then the process of theoretical analysis for ADRC,mainly concluding the convergence of the tracking differentiator(TD),the capabilities of the extended state observer(ESO) for estimating uncertainties and the performance of the ADRC based closed-loop system is reviewed.Finally, ADRC's contributions to the research of controlling uncertain systems are concluded.