A set of tuning rules for Linear Active Disturbance Rejection Controller (LADRC) with three different levels of compromise between disturbance rejection and robustness is presented. The tuning rules are the result of a Multiobjective Optimization Design (MOOD) procedure followed by curve fitting and are intended as a tool for designers who seek to implement LADRC by considering the load disturbance response of processes whose behavior is approximated by a general first-order system with delay. The validation of the proposed tuning rules is done through illustrative examples and the control of a nonlinear thermal process. Compared to classical PID (Proportional-Integral-Derivative) and other LADRC tuning methods, the derived functions offer an improvement in either disturbance rejection, robustness or both design objectives.
<p>Este tutorial aborda el diseño de controladores lineales por rechazo activo de perturbaciones (ADRC). Se inicia con la descripción de los bloques que componen el lazo ADRC. Seguidamente, se discute la formulación del problema de control en el marco del rechazo de perturbaciones, la sintonización del conjunto de ganancias que hacen parte del lazo y se presenta una guía general para el diseño del controlador lineal por rechazo activo de perturbaciones. Con este tutorial se pretende ofrecer una introducción a los lectores sobre el ADRC y una reseña de los trabajos que indican las tendencias de investigación en el área. Para ilustrar el procedimiento de diseño, se incluyen dos ejemplos: el control de un proceso térmico y el control multivariable de un proceso químico.</p>
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