Stability analysis of linear/nonlinear switching active disturbance rejection control based MIMO continuous systems

In this paper, a linear/nonlinear switching active disturbance rejection control (SADRC) based decoupling control approach is proposed to deal with some difficult control problems in a class of multi-input multi-output (MIMO) systems such as multi-variables, disturbances, and coupling, etc. Firstly, the structure and parameter tuning method of SADRC is introduced into this paper. Followed on this, virtual control variables are adopted into the MIMO systems, making the systems decoupled.Then the SADRC controller is designed for every subsystem.After this, a stability analyzed method via the Lyapunov function is proposed for the whole system. Finally, some simulations are presented to demonstrate the anti-disturbance and robustness of SADRC, and results show SADRC has a potential applications in engineering practice.