A Set of Active Disturbance Rejection Controllers Based on Integrator Plus Dead-Time Models

Huba, Mikuláš; Oliveira, P. B. de Moura; Bisták, Pavol; Vrančić, Damir; Žáková, Katarı́na

doi:10.3390/app11041671

Cited by 11 publications

(14 citation statements)

References 46 publications

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“…Therefore, it will be useful to start clarifying the increased tuning complexity by explaining particular tuning steps, preferably from the simplest tasks. To illustrate the use of the RM-DTC design and practical problems associated with its application, we will consider the thermal process control discussed already in [31], [60], [64]. The choice of this process is motivated by several aspects -from a physical point of view, it is a highly nonlinear and time-variable higher-order process posing a challenge for robust control -only due to the fact that the concept of a nominal dynamics is strongly questionable.…”

Section: Illustrative Example: Temperature Controlmentioning

confidence: 99%

Reference Model Control of the Time Delayed Double Integrator

2022

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This paper illustrates the reference model-based dead-time compensator (RM-DTC) recently developed for first-order time-delayed systems using a real-time example, and extends this novel approach for a time-delayed double integrator system. RM-DTC enables fully decoupled setpoint tracking and disturbance reconstruction and compensation. The overall structure of RM-DTC includes feedforward control using either a transfer function based implementation or the primary loop which produces a filtered inverse of the model transfer function. The setpoint feedforward is complemented by a disturbanceobserver-based input disturbance reconstruction that also uses the filtered inverse of the plant model. The reference models of setpoint and input disturbance feedforward control allow the introduction of a stabilising PD controller without compromising the nominally independent dynamics of setpoint tracking and disturbance rejection. The main advantage of retaining the full functionality of disturbance reconstruction in RM-DTC is that it enables monitoring and diagnostics of the controlled process, which is important in terms of full automation of running processes representing the fundamental goal of the Industry 4.0 campaign. This surpasses the approaches based on internal model control, which have been modified for unstable systems to achieve internal stability by eliminating the reconstructed disturbance signal from the control loop. The excellent properties of RM -DTCs are illustrated by simulation and real-time control of thermal process.

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Section: Illustrative Example: Temperature Controlmentioning

confidence: 99%

Reference Model Control of the Time Delayed Double Integrator

2022

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“…There are several kinds of controls: proportional integral derivative (PID) controls are studied in [1,2], model-based controls are discussed in [3,4], and disturbance rejection controls are designed in [5,6]. For these controls, there are two types of objective-tracking, which involves the following of a time-varying set point, and regulation, which involves the following of a constant set point.…”

Section: Introductionmentioning

confidence: 99%

The Regulation of an Electric Oven and an Inverted Pendulum

et al. 2022

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In this research, a proportional integral derivative regulator, a first-order sliding-mode regulator, and a second-order sliding-mode regulator are compared, for the regulation of two different types of mathematical model. A first-order sliding-mode regulator is a method where a sign-mapping checks that the error decays to zero after a convergence time; it has the problem of chattering in the output. A second-order sliding-mode regulator is a smooth method to counteract the chattering effect where the integral of the sign-mapping is used. A second-order sliding-mode regulator is presented as a new class of algorithm where the trajectory is asymptotic and stable; it is shown to greatly improve the convergence time in comparison with other regulators considered. Simulation and experimental results are described in which an electric oven is considered as a stable linear mathematical model, and an inverted pendulum is considered as an asymmetrical unstable non-linear mathematical model.

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“…Moreover, as Ziegler and Nichols [23] pointed out in their pioneering work, which was later followed by numerous other contributions in the area of Active Disturbance Rejection Control (ADRC, [24,25]) or Model Free Control (MFC, [26]), but they have already been noticed by authors from the field of PID control [12,27], the simple integrating models can also be attractive for the design of simplified DTCs on the simplest stable processes [18].…”

Section: Introductionmentioning

confidence: 99%

Dead-Time Compensation for the First-Order Dead-Time Processes: Towards a Broader Overview

et al. 2021

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The article reviews the results of a number of recent papers dealing with the revision of the simplest approaches to the control of first-order time-delayed systems. The concise introductory review is extended by an analysis of two discrete-time approaches to dead-time compensation control of stable, integrating, and unstable first-order dead-time processes including simple diagnostics of the model used and focusing on the possibility of simplified but reliable plant modelling. The first approach, based on the first historically known dead-time compensator (DTC) with possible dead-beat performance, is based on the reconstruction of the actual process variables and the compensation of input disturbances by an extended state observer (ESO). Such solutions play an important role both in a disturbance observer (DOB) based control and in an active disturbance rejection control (ADRC). The second approach considered comes from the Smith predictor with two degrees of freedom, which combines feedforward control with output disturbance reconstruction and compensation by the parallel plant model. It is shown that these two approaches offer advantageous properties in the case of actuator limitations, in contrast to the commonly used PID controllers. However, when applied to integrating and unstable first-order systems, the unconstrained and possibly unobservable output disturbance signal of the second solution must be eliminated from the control loop, due to the hidden structural instability of the Smith predictor-like solutions. The modified solutions, usually referred to as filtered Smith predictor (FSP), then no longer provide a disturbance signal and thus no longer fully fit into the concept of Industry 4.0, which is focused on further optimization, predictive maintenance in dynamic systems, diagnosis, fault detection and fault identification of dynamic processes and forms the basis for the digitalization of smart production. Nevertheless, the detailed analysis of the elimination of the unstable disturbance response mode is also worth mentioning in terms of other possible solutions. The application of both approaches to the control of a thermal process shows almost equivalent quality, but with different dependencies on the tuning parameters used. It is confirmed that a more detailed identification of the controlled process and the resulting higher complexity of the control algorithms does not necessarily lead to an increase in the resulting quality of the transients, which underlines the importance of the simplified plant modelling for practice.

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A Set of Active Disturbance Rejection Controllers Based on Integrator Plus Dead-Time Models

Cited by 11 publications

References 46 publications

Reference Model Control of the Time Delayed Double Integrator

Reference Model Control of the Time Delayed Double Integrator

The Regulation of an Electric Oven and an Inverted Pendulum

Dead-Time Compensation for the First-Order Dead-Time Processes: Towards a Broader Overview

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