Active Disturbance Rejection Control with Integral Action for Magnetic Levitation Control

The standard active disturbance rejection control (ADRC) method is usually not providing desirable control outcomes for unstable systems, non-minimum phase plants and systems with considerable disturbances. In this work, the integral control action is integrated into the ADRC controller to enhance the control performance of this controller for a class of systems. The proposed control method is applied to a magnetic levitation plant. The magnetic levitation-based plants have nonlinear and open-loop unstable dynamics, and it is difficult to provide a desirable control performance with standard controller designs. It is discovered that the suggested control approach can produce resilience against system disturbances, zero steady-state error, and a quick transient reaction.