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    Linear Active Disturbance Rejection Control with a Fractional-Order Integral Action

    Maâmar Bettayeb1,3, Rachid Mansouri2,*, Ubaid M. Al-Saggaf3,4, Abdulrahman U. Alsaggaf3,4, Mohammed Moinuddin3,4

    CMC-Computers, Materials & Continua, Vol.73, No.2, pp. 3057-3079, 2022, DOI:10.32604/cmc.2022.025751

    Abstract Linear active disturbance rejection control (LADRC) is a powerful control structure thanks to its performance in uncertainties, internal and external disturbances estimation and cancelation. An extended state observer (ESO) based controller is the key to the LADRC method. In this article, the LADRC scheme combined with a fractional-order integral action (FOI-LADRC) is proposed to improve the robustness of the standard LADRC. Using the robust closed-loop Bode’s ideal transfer function (BITF), an appropriate pole placement method is proposed to design the set-point tracking controller of the FOI-LADRC scheme. Numerical simulations and experimental results on a cart-pendulum… More >

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