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Active Disturbance Rejection Control Based on an Improved Equivalent-Input-Disturbance Approach

This paper proposed an improved equivalent-input disturbance approach for disturbance rejection of control systems. This approach overcomes the difficulty that the current existing equivalent-input disturbance method has faced for non-minimum phase plants to be controlled and can be employed for both minimum phase and non-minimum phase plants. The stability conditions are derived and a design algorithm of the generalized state observer is developed, based on the stability conditions and a pole placement algorithm. This approach is employed in a servo control system. The results have led to another journal paper to be published in IET Control Theory and Applications.