State-Space Controller as a FOTD Based Generalization of ADRC

This paper extends ideas of some introductory papers interpreting advanced disturbance rejection control (ADRC) as a generalization of state-space controller design focused on using simplified integral plant models. Advantages achieved by this approach are evaluated by comparing robust constrained controllers based on extended state observer (ESO) design using integrative and first order time delayed (IPDT and FOTD) plant models. Thereby, this comparison may help in discovering new interesting properties of both considered types of resulting controllers. Theoretical analyses is illustrated by real time control of a thermal process.

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