Active disturbance rejection generalized predictive control and its application on large time-delay systems

An improved algorithm called active disturbance rejection generalized predictive control which combines advantages of active disturbance rejection control and generalized predictive control is proposed for time-delay systems in this paper to reduce the limitations of active disturbance rejection control (ADRC) in plants with large time-delay and improve the imperfections of generalized predictive control method such as huge computation and strong dependence on mathematical model. The method proposed in this paper can deduce the general solution to the Diophantine equations off-line without the system parameter identification because of the extended state observer. Hence, the online computation burden of this improved method is reduced typically and its application is enlarged. Simulation results show that this proposed design turns out to be a new solution for the large time-delay systems.