Linear ADRC is equivalent to PID with set-point weighting and measurement filter
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arXiv
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866916572757491712 |
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| author | Carlson, Fredrik Bagge |
| author_facet | Carlson, Fredrik Bagge |
| contents | We show that linear Active Disturbance-Rejection Control (ADRC) tuned using the "bandwidth method" is equivalent to PI(D) control with set-point weighting and a lowpass filter on the measurement signal. We also provide simple expressions that make it possible to implement linear ADRC for first and second-order systems using commonplace two degree-of-freedom PID implementations. The expressions are equivalent to ADRC in the response from measurements, and a slight approximation in the response from references. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_11374 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Linear ADRC is equivalent to PID with set-point weighting and measurement filter Carlson, Fredrik Bagge Systems and Control We show that linear Active Disturbance-Rejection Control (ADRC) tuned using the "bandwidth method" is equivalent to PI(D) control with set-point weighting and a lowpass filter on the measurement signal. We also provide simple expressions that make it possible to implement linear ADRC for first and second-order systems using commonplace two degree-of-freedom PID implementations. The expressions are equivalent to ADRC in the response from measurements, and a slight approximation in the response from references. |
| title | Linear ADRC is equivalent to PID with set-point weighting and measurement filter |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2501.11374 |