Robust tuning of a first order reduced Active Disturbance Rejection Controller

In this paper, the robust tuning rules for a first order reduced ADRC (Active Disturbance Rejection Controller) are suggested for lag dominated processes. Based on the D-partition method and FOPDT (First Order plus Dead Time) process approximation, a software tool is designed that allows for tuning subject to phase and gain margins. Based on this software, six robust tuning rules were derived. For these rules, the results of simulation validation in the application to benchmark processes are presented and compared to the performance of PI-based control systems. Additional experimental validation shows the practical applicability of the suggested tuning rules.