Model Matching Control Based on Discrete-Time Improved ADRC Considering Plant Input-side Disturbance

This article describes our approach to designing a model matching controller based on a discrete-time active disturbance rejection control (ADRC). The ADRC is an effective control technique to achieve a high performance of the disturbance estimation or its compensation. In a conventional ADRC, the extended state observer (ESO) is used in order to estimate the plant state variables and the generalized perturbation which is composed of the plant with modeling error and a plant output-side disturbance. However, when the input-side disturbance is added to the plant, the steady-state error may occur in the control system. To solve this problem, the design method of the observer that simultaneously estimates the plant state variables, the generalized perturbation of the plant and the plant input-side disturbance is proposed. Furthermore, our proposed method is applied to the model matching control. In simulation studies, it is shown that the proposed method is effective for some plants. Furthermore, by applying the proposed method to a DC motor, the effectiveness of the method is confirmed.