The extended state observer (ESO) is a key component in any active disturbance rejection control (ADRC) scheme. Its discrete implementation is thus crucial in practical applications. In this paper, a discrete delta operator ESO is introduced and analyzed. As a starting point, a discrete shift operator ESO is used for transformation from continuous-time to delta operator discrete-time. A quantitative comparison between shift operator and delta operator ESOs (with different sampling time[s]) is conducted here using a servomechanism system. The obtained numerical results show the proposed delta operator observer to work better than the shift operator observer in certain aspects.
CITATION STYLE
Ramírez-Neria, M., Luviano-Juárez, A., Lozada-Castillo, N., Ochoa-Ortega, G., & Madonski, R. (2020). Discrete-Time Active Disturbance Rejection Control: A Delta Operator Approach. In Advances in Intelligent Systems and Computing (Vol. 1196 AISC, pp. 1383–1395). Springer. https://doi.org/10.1007/978-3-030-50936-1_115
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