Active Disturbance Rejection Control of angular position of a DC servo motor

This work aims at demonstrating the use of an Active Disturbance Rejection Controller (ADRC) for the control of angular position of a DC servo motor. It is shown that the uncertainties in the plant modeling and the external disturbances can be estimated in real-time using an Extended State Observer (ESO), which estimates these uncertainties as an augmented state. The information from ESO is then used to design the controller for the plant, and the overall control design is shown to be robust and independent of the exhaustive mathematical model.