A parameter formula connecting PID and ADRC

doi:10.1007/s11432-019-2712-7

	A parameter formula connecting PID and ADRC
	Zhong, Sheng 1,2; Huang, Yi 1,2; Guo, Lei 1,2
刊名	SCIENCE CHINA-INFORMATION SCIENCES
	2020-07-24
卷号	63 期号:9 页码:13
关键词	nonlinear uncertain systems proportional-integral-derivative PID active disturbance rejection control ADRC extended state observer ESO
ISSN号	1674-733X
DOI	10.1007/s11432-019-2712-7
英文摘要	This paper presents a parameter formula connecting the well-known proportional-integral-derivative (PID) control and the active disturbance rejection control (ADRC). On the one hand, this formula gives a quantitative lower bound to the bandwidth of the extended state observer (ESO) used in ADRC, implying that the ESO is not necessarily of high gain. On the other hand, enlightened by the design of ADRC, a new PID tuning rule is provided, which can guarantee both strong robustness and nice tracking performance of the closed-loop systems under the PID control. Moreover, it is proved that the ESO can be rewritten as a suitable linear combination of the three terms in PID, which can give a better estimate for the system uncertainty than the single integral term in the PID controller. Theoretical results are verified also by simulations in the paper.
资助项目	National Key R&D Program of China[2018YFA0703800] ; National Center for Mathematics and Interdisciplinary Sciences, Chinese Academy of Sciences ; National Natural Science Foundation of China[11688101]
WOS研究方向	Computer Science ; Engineering
语种	英语
出版者	SCIENCE PRESS
WOS记录号	WOS:000556904300001
内容类型	期刊论文
源URL	[http://ir.amss.ac.cn/handle/2S8OKBNM/51964]
专题	中国科学院数学与系统科学研究院
通讯作者	Huang, Yi
作者单位	1.Univ Chinese Acad Sci, Sch Math Sci, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Zhong, Sheng,Huang, Yi,Guo, Lei. A parameter formula connecting PID and ADRC[J]. SCIENCE CHINA-INFORMATION SCIENCES,2020,63(9):13.
APA	Zhong, Sheng,Huang, Yi,&Guo, Lei.(2020).A parameter formula connecting PID and ADRC.SCIENCE CHINA-INFORMATION SCIENCES,63(9),13.
MLA	Zhong, Sheng,et al."A parameter formula connecting PID and ADRC".SCIENCE CHINA-INFORMATION SCIENCES 63.9(2020):13.