On ADRC for non-minimum phase systems: canonical form selection and stability conditions

摘要: Active disturbance rejection control (ADRC), as proposed by Prof. Jingqing Han, reduces first the plant dynamics to its canonical form, normally in form of cascade integrators, for which standard controller can be employed meet design specifications. This paper concerns with selection non-minimum phase systems. In particular, it is shown that, employing well known controllable uncertainties such systems divided into two terms state space model, one channel and other output channel. The necessary sufficient condition obtained stability closed-loop system ADRC. Also, showing necessity detectability extended certain information system-s “zeros”, we present fundamental guidelines ADRC uncertain