On Stability Condition of Linear Active Disturbance Rejection Control for Second-order Systems
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摘要: 研究了线性自抗扰控制(Linear active disturbance rejection control, LADRC)抑制内扰的机理.针对无外扰的二阶线性系统, 给出了线性自抗扰控制的一个稳定性充要条件.使用该条件证明了实践中广泛应用的带宽法可以克服对象的参数不确定性, 找到合适的观测器带宽保证自抗扰控制稳定.Abstract: The mechanism for linear active disturbance rejection control (LADRC) to reject internal disturbance is investigated.For the linear second-order systems without external disturbance, a sufficient and necessary stability condition of LADRC is given.With the condition, it is proved that the bandwidth method widely used in practice can overcome plant parametric uncertainty and find a suitable observer bandwidth to guarantee the stability of LADRC.1) 本文责任编委 季海波
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图 1 LADRC的反馈互联结构, 其中子系统用状态空间形式
Fig. 1 Feedback interconnection structure of LADRC, in which subsystems are described in state space
图 2 LADRC的反馈互联结构, 其中子系统用传递函数形式
Fig. 2 Feedback interconnection structure of LADRC, in which subsystems are described with transfer functions
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