Improved ADRC Controller based on Model Information and Special Filter Parameter Methods

: In the LADRC controller, the former proposes a parameter adjustment method based on bandwidth design, but the effect still has room for improvement. This article will improve the effects of the controller in two ways. First, the known model information of the controlled object is introduced into the controller design to reduce the observer's interference observation load. On the other hand, the filtering methods of Bessel, Butterworth and Chebyshev are used to design the equivalent design of the extended state observer parameters, thereby increasing the overall performance of the controller by approximately 60%.