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arXiv · 2104.01943

A Minimum-Footprint Implementation of Discrete-Time ADRC

Gernot Herbst
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Abstract

To foster the adoption of active disturbance rejection control (ADRC) and support its deployment even on low-cost embedded systems, this article introduces the most efficient implementation of linear discrete-time ADRC to date. While maintaining all features and the exact performance characteristics of the state-space form, computational efforts and storage requirements are reduced to a minimum compared to all existing implementations. This opens up new possibilities to use ADRC in applications with high sample rates, tight timing constraints, or low computational power.

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BibTeXRIS

Gernot Herbst. 2022-06-03. A Minimum-Footprint Implementation of Discrete-Time ADRC. https://doi.org/10.23919/ecc54610.2021.9655120

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