Active Disturbance Rejection Control Based Load Side Speed Controller for Two Mass System with Backlash

Article presents the simulation research over the electromechanical two-mass system with backlash, where the load side speed is controlled by linear Active Disturbance Rejection Control (ADRC) control system. Authors showed step by step the way of deriving the Extended State Observer (ESO) and controller, next the research over the robustness of the control system to the backlash variation has been performed. Quality indicators have been proposed and presented in tables as well as selected waveforms. The article ends up with conclusions and plans for further research

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