Active disturbance rejection control (ADRC) is one of the notable disturbance and uncertainty estimation and attenuation techniques.
Kim Ho, dean of the Faculty of Automation Engineering, has proposed a method based on the maximum sensitivity index, with an attempt to solve the problems arising in the parameter tuning of ADRC.
Then, he has applied it to the temperature control of a water glass reaction tank subject to strong model uncertainties and disturbances.
First, he built a mathematical model of a water glass reaction tank by using the identification technique based on the step response signal, and designed a second-order linear active disturbance rejection controller based on it. Then, based on the maximum sensitivity index, he presented a formula of tuning the parameters of the second-order linear active disturbance rejection controller to achieve robustness, and verified its effectiveness using MATLAB.
As a result, he has concluded that the proposed formula is suitable when the non-delay is less than 0.3, and that time delay compensation techniques such as Smith predictor should be applied when the non-delay is more than 0.3 as the time delay is not negligible.
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