Active Disturbance Rejection Control for Removal of Ramp Disturbance Using Plant Inverse Property

Abstract

In this paper, we propose a control law in an active disturbance rejection control (ADRC) for removal of ramp disturbance. We use plant inverse characteristics as a control law. Simulation results show that the proposed method rejects ramp disturbance and steady-state error is zero. In comparison with a conventional method, the proposed method has almost the same control performance for a plant with a modeling error. Also, we confirmed that the proposed controller can remove not only step signal but also ramp signal by simulations and a theoretical analysis based on a final-value theorem.