The invariance principle in disturbance rejection control

被引：8
|
作者：
Li X.-Y. [1 ]
Gao Z.-Q. [2 ]
机构：
[1] Key Laboratory of Autonomous Systems and Network Control, School of Automation Science and Engineering, South China University of Technology, Guangzhou, 510640, Guangdong
[2] Center for Advanced Control Technologies, Department of Electrical Engineering and Computer Science, Cleveland State University, Cleveland, 44115, OH
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2020年 / 37卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Active disturbance rejection control; Disturbance observer-based control; Dual channel disturbance compensation control; Internal mode control; Invariance principle;
D O I：
10.7641/CTA.2019.80983
中图分类号：
学科分类号：
摘要：
The invariance principle is the basic principle of rejection control theory and the disturbance rejection performance is the external appearance of the invariance principle. This paper strives to clarify the invariance principle inside the dual channel disturbance compensation control, internal model control, disturbance observer based control and active disturbance rejection control (ADRC), presents the intrinsic relationship among them, and points out that ADRC has a three-dimension of freedom structure with two invariance principle implementations. ADRC utilizes the total disturbance estimation and compensation to realize the invariance of the dynamical model of the generalized controlled plant and applies state error feedback control law to realize the invariance of the quasi-sliding mode motion. The invariance principles depict the nature of disturbance rejection control very well, simplify the description of control theory and guide engineering practice. © 2020, Editorial Department of Control Theory & Applications. All right reserved.
引用
收藏
页码：236 / 244
页数：8
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