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In this paper, the practical verification of Active Disturbance Rejection Controller (ADRC) implementation for pneumatic setup is investigated. Apart from experimental results, the inverse half-rule is suggested to support ADRC tuning for the second order processes by adjusting the value of the scaling factor. This rule is based only on the approximation of the process step response by First Order...
This work shows the results of the practical implementation of the linearizing controller for the example laboratory pneumatic process of the third relative degree. Controller design is based on the Lie algebra framework but in contrast to the previous attempts, the on-line model update method is suggested to ensure offset-free control. The paper details the proposed concept and reports the experiences...
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