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Active Disturbance Rejection Control of Dynamic Systems : A Flatness Based Approach (Paperback)
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Active Disturbance Rejection Control of Dynamic Systems describes the linear control of uncertain nonlinear systems. The net result is a practical controller design approach that is simple, surprisingly robust, while guaranteeing convergence to small neighborhoods of desired equilibria or to tracking errors which are as close to zero as desired.
This methodology differs from current robust feedback controllers characterized by either complex matrix manipulations, complex parameter adaptation schemes and, in other cases, induced high frequency noises through the classical "chattering" phenomenon.
The approach contains many of the cornerstones, or philosophical features, of Model Free Control and ADRC while exploiting flatness and GPI control in an efficient manner for linear, nonlinear, mono-variable and multivariable systems including those exhibiting inputs delays.
It contains successful experimental laboratory case studies of diverse engineering nature. Especially, mechanical, electro-mechanical, robotics, mobile robotics and power electronics systems problems
- Provides an alternative way to solve disturbance rejection problems and robust control problem beyond the existing approaches based on matrix algebra and state observers
- Generalizes the widely studied Extended State Observer to a class of observers called Generalized Proportional Integral Observers (GPI Observers)
- Contains successful experimental laboratory case studies