Two-order ADRC Control for Integral Plants with Large Time Delay

Inertial first-order systems are typically object of as time-delay systems, it is obvious that integral plants with large time-delay are even more difficult to control, which is the problem this article deals with using a modified two-order ADRC(Auto-Disturbance-Rejection Controller). Simulation results show that not only ADRC can effectively control such plants, and exhibit excellent robustness, disturbance-rejection ability, but there exist no model unmatched problems in a certain degree. In addition, the article gives a table showing the regular pattern the change of the parameters of the controller with the increase in time-delay from 0 to a large one, and a parameter-adjustment rule based on the concept of time-scale, which are of much value when ADRC is put into practical use.