The active disturbance rejection control for a class of MIMO block lower-triangular system

This paper studies the control problem for a class of multiple-input multiple-output (MIMO) lower-triangular systems which have uncertain dynamics and disturbance. The active disturbance rejection control (ADRC) is designed to achieve two objects: 1). the convergence of the closed-loop system; 2). the performance of the closed-loop system can be controlled to be close to the reference system by tuning the bandwidth of Extended state observer (ESO).

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