A New ADRC Structure and Its Application to Electro-Hydraulic Servo System

A new active-disturbance rejection control (ADRC) structure based on zero-tunable is proposed. The mode of linear feedback combination (LFC) was optimized. System response speed could be tunable by setting the zero-parameter without changing the stability of the control system. The method to compensate uncertain disturbance could eliminate the couples between the LFC and extended state observer(ESO). Classic control theory and Bode diagramed were used to analysis the characteristics of the proposed structure in frequency and time domain. The optimal selected range of zero-parameter was achieved. Also, the effects of noise disturbance on the parameter selection of ESO were analyzed. The tracing experiment of electro-hydraulic servo system has been down for a given sinusoidal signal. The results show that the proposed controller structure has the advantages of easy tuning parameters and good anti-disturbance function.