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文件名称:Active Disturbance Rejection Control_.pdf
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更新时间:2023-01-05 15:13:33
自抗扰控制经典
The question addressed in this paper is: just what do
we need to know about a process in order to control it? With
active disturbance rejection, perhaps we don’t need to know as
much as we were told. In fact, it is shown that the unknown
dynamics and disturbance can be actively estimated and
compensated in real time and this makes the feedback control
more robust and less dependent on the detailed mathematical
model of the physical process. In this paper we first examine the
basic premises in the existing paradigms, from which it is argued
that a paradigm shift is necessary. Using a motion control
metaphor, the basis of such a shift, the Active Disturbance
Rejection Control, is introduced. Stability analysis and
applications are presented. Finally, the characteristics and
significance of the new paradigm are discussed.
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