Modeling and Simulation of a Single Gain Tuning ADRC Controller in Matlab/Simulink

Active Disturbance Rejection Control (ADRC) is one of the recently proposed and best approaches to control diverse range of plants. However, optimized parametrization of the controller along with a proper Matlab/Simulink simulation has been an issue so far. In this research, after studying the basic principle and structure of ADRC, we have discussed how the controller parameters can be scaled so that the tuning parameters can be reduced to only one. Based on the studies, a user defined ADRC block library was created in Matlab/Simulink by developing m-functions for special linear and nonlinear functions and masking subsystem for building user custom library. The examples show that the ADRC simulation model can be used in graphical modeling and the block parameters are easy to modify. Also, the simulation and practical results show that the modeling method is valid and practical. Furthermore, the proposed library is easy to extend and related suggestions are made.